SEVENTH
E D I T I O N
Elementary Differential Equations and Boundary Value Problems William E. Boyce Edward P. Hamilton Professor Emeritus
Richard C. DiPrima formerly Eliza Ricketts Foundation Professor Department of Mathematical Sciences Rensselaer Polytechnic Institute
John Wiley & Sons, Inc. New York
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[email protected]. Library of Congress Cataloging in Publication Data: Boyce, William E. Elementary differential equations and boundary value problems / William E. Boyce, Richard C. DiPrima – 7th ed. p. cm. Includes index. ISBN 0-471-31999-6 (cloth : alk. paper) 1. Differential equations. 2. Boundary value problems. I. DiPrima, Richard C. II. Title QA371 .B773 2000 515’.35–dc21
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To Elsa and Maureen To Siobhan, James, Richard, Jr., Carolyn, and Ann And to the next generation: Charles, Aidan, Stephanie, Veronica, and Deirdre
The Authors William E. Boyce received his B.A. degree in Mathematics from Rhodes College, and his M.S. and Ph.D. degrees in Mathematics from Carnegie-Mellon University. He is a member of the American Mathematical Society, the Mathematical Association of America, and the Society of Industrial and Applied Mathematics. He is currently the Edward P. Hamilton Distinguished Professor Emeritus of Science Education (Department of Mathematical Sciences) at Rensselaer. He is the author of numerous technical papers in boundary value problems and random differential equations and their applications. He is the author of several textbooks including two differential equations texts, and is the coauthor (with M.H. Holmes, J.G. Ecker, and W.L. Siegmann) of a text on using Maple to explore Calculus. He is also coauthor (with R.L. Borrelli and C.S. Coleman) of Differential Equations Laboratory Workbook (Wiley 1992), which received the EDUCOM Best Mathematics Curricular Innovation Award in 1993. Professor Boyce was a member of the NSF-sponsored CODEE (Consortium for Ordinary Differential Equations Experiments) that led to the widely-acclaimed ODE Architect. He has also been active in curriculum innovation and reform. Among other things, he was the initiator of the “Computers in Calculus” project at Rensselaer, partially supported by the NSF. In 1991 he received the William H. Wiley Distinguished Faculty Award given by Rensselaer. Richard C. DiPrima (deceased) received his B.S., M.S., and Ph.D. degrees in Mathematics from Carnegie-Mellon University. He joined the faculty of Rensselaer Polytechnic Institute after holding research positions at MIT, Harvard, and Hughes Aircraft. He held the Eliza Ricketts Foundation Professorship of Mathematics at Rensselaer, was a fellow of the American Society of Mechanical Engineers, the American Academy of Mechanics, and the American Physical Society. He was also a member of the American Mathematical Society, the Mathematical Association of America, and the Society of Industrial and Applied Mathematics. He served as the Chairman of the Department of Mathematical Sciences at Rensselaer, as President of the Society of Industrial and Applied Mathematics, and as Chairman of the Executive Committee of the Applied Mechanics Division of ASME. In 1980, he was the recipient of the William H. Wiley Distinguished Faculty Award given by Rensselaer. He received Fulbright fellowships in 1964–65 and 1983 and a Guggenheim fellowship in 1982–83. He was the author of numerous technical papers in hydrodynamic stability and lubrication theory and two texts on differential equations and boundary value problems. Professor DiPrima died on September 10, 1984.
PREFACE
This edition, like its predecessors, is written from the viewpoint of the applied mathematician, whose interest in differential equations may be highly theoretical, intensely practical, or somewhere in between. We have sought to combine a sound and accurate (but not abstract) exposition of the elementary theory of differential equations with considerable material on methods of solution, analysis, and approximation that have proved useful in a wide variety of applications. The book is written primarily for undergraduate students of mathematics, science, or engineering, who typically take a course on differential equations during their first or second year of study. The main prerequisite for reading the book is a working knowledge of calculus, gained from a normal two- or three-semester course sequence or its equivalent.
A Changing Learning Environment The environment in which instructors teach, and students learn, differential equations has changed enormously in the past few years and continues to evolve at a rapid pace. Computing equipment of some kind, whether a graphing calculator, a notebook computer, or a desktop workstation is available to most students of differential equations. This equipment makes it relatively easy to execute extended numerical calculations, to generate graphical displays of a very high quality, and, in many cases, to carry out complex symbolic manipulations. A high-speed Internet connection offers an enormous range of further possibilities. The fact that so many students now have these capabilities enables instructors, if they wish, to modify very substantially their presentation of the subject and their expectations of student performance. Not surprisingly, instructors have widely varying opinions as to how a course on differential equations should be taught under these circumstances. Nevertheless, at many colleges and universities courses on differential equations are becoming more visual, more quantitative, more project-oriented, and less formula-centered than in the past.
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Mathematical Modeling The main reason for solving many differential equations is to try to learn something about an underlying physical process that the equation is believed to model. It is basic to the importance of differential equations that even the simplest equations correspond to useful physical models, such as exponential growth and decay, spring-mass systems, or electrical circuits. Gaining an understanding of a complex natural process is usually accomplished by combining or building upon simpler and more basic models. Thus a thorough knowledge of these models, the equations that describe them, and their solutions, is the first and indispensable step toward the solution of more complex and realistic problems. More difficult problems often require the use of a variety of tools, both analytical and numerical. We believe strongly that pencil and paper methods must be combined with effective use of a computer. Quantitative results and graphs, often produced by a computer, serve to illustrate and clarify conclusions that may be obscured by complicated analytical expressions. On the other hand, the implementation of an efficient numerical procedure typically rests on a good deal of preliminary analysis – to determine the qualitative features of the solution as a guide to computation, to investigate limiting or special cases, or to discover which ranges of the variables or parameters may require or merit special attention. Thus, a student should come to realize that investigating a difficult problem may well require both analysis and computation; that good judgment may be required to determine which tool is best-suited for a particular task; and that results can often be presented in a variety of forms.
A Flexible Approach To be widely useful a textbook must be adaptable to a variety of instructional strategies. This implies at least two things. First, instructors should have maximum flexibility to choose both the particular topics that they wish to cover and also the order in which they want to cover them. Second, the book should be useful to students having access to a wide range of technological capability. With respect to content, we provide this flexibility by making sure that, so far as possible, individual chapters are independent of each other. Thus, after the basic parts of the first three chapters are completed (roughly Sections 1.1 through 1.3, 2.1 through 2.5, and 3.1 through 3.6) the selection of additional topics, and the order and depth in which they are covered, is at the discretion of the instructor. For example, while there is a good deal of material on applications of various kinds, especially in Chapters 2, 3, 9, and 10, most of this material appears in separate sections, so that an instructor can easily choose which applications to include and which to omit. Alternatively, an instructor who wishes to emphasize a systems approach to differential equations can take up Chapter 7 (Linear Systems) and perhaps even Chapter 9 (Nonlinear Autonomous Systems) immediately after Chapter 2. Or, while we present the basic theory of linear equations first in the context of a single second order equation (Chapter 3), many instructors have combined this material with the corresponding treatment of higher order equations (Chapter 4) or of linear systems (Chapter 7). Many other choices and
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combinations are also possible and have been used effectively with earlier editions of this book. With respect to technology, we note repeatedly in the text that computers are extremely useful for investigating differential equations and their solutions, and many of the problems are best approached with computational assistance. Nevertheless, the book is adaptable to courses having various levels of computer involvement, ranging from little or none to intensive. The text is independent of any particular hardware platform or software package. More than 450 problems are marked with the symbol 䉴 to indicate that we consider them to be technologically intensive. These problems may call for a plot, or for substantial numerical computation, or for extensive symbolic manipulation, or for some combination of these requirements. Naturally, the designation of a problem as technologically intensive is a somewhat subjective judgment, and the 䉴 is intended only as a guide. Many of the marked problems can be solved, at least in part, without computational help, and a computer can be used effectively on many of the unmarked problems. From a student’s point of view, the problems that are assigned as homework and that appear on examinations drive the course. We believe that the most outstanding feature of this book is the number, and above all the variety and range, of the problems that it contains. Many problems are entirely straightforward, but many others are more challenging, and some are fairly open-ended, and can serve as the basis for independent student projects. There are far more problems than any instructor can use in any given course, and this provides instructors with a multitude of possible choices in tailoring their course to meet their own goals and the needs of their students. One of the choices that an instructor now has to make concerns the role of computing in the course. For instance, many more or less routine problems, such as those requesting the solution of a first or second order initial value problem, are now easy to solve by a computer algebra system. This edition includes quite a few such problems, just as its predecessors did. We do not state in these problems how they should be solved, because we believe that it is up to each instructor to specify whether their students should solve such problems by hand, with computer assistance, or perhaps both ways. Also, there are many problems that call for a graph of the solution. Instructors have the option of specifying whether they want an accurate computer-generated plot or a hand-drawn sketch, or perhaps both. There are also a great many problems, as well as some examples in the text, that call for conclusions to be drawn about the solution. Sometimes this takes the form of asking for the value of the independent variable at which the solution has a certain property. Other problems ask for the effect of variations in a parameter, or for the determination of a critical value of a parameter at which the solution experiences a substantial change. Such problems are typical of those that arise in the applications of differential equations, and, depending on the goals of the course, an instructor has the option of assigning few or many of these problems.
Supplementary Materials Three software packages that are widely used in differential equations courses are Maple, Mathematica, and Matlab. The books Differential Equations with Maple, Differential Equations with Mathematica, and Differential Equations with Matlab by K. R.
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Coombes, B. R. Hunt, R. L. Lipsman, J. E. Osborn, and G. J. Stuck, all at the University of Maryland, provide detailed instructions and examples on the use of these software packages for the investigation and analysis of standard topics in the course. For the first time, this text is available in an Interactive Edition, featuring an eBook version of the text linked to the award-winning ODE Architect. The interactive eBook links live elements in each chapter to ODE Architect’s powerful, yet easy-to-use, numerical differential equations solver and multimedia modules. The eBook provides a highly interactive environment in which students can construct and explore mathematical models using differential equations to investigate both real-world and hypothetical situations. A companion e-workbook that contains additional problems sets, called Explorations, provides background and opportunities for students to extend the ideas contained in each module. A stand-alone version of ODE Architect is also available. There is a Student Solutions Manual, by Charles W. Haines of Rochester Institute of Technology, that contains detailed solutions to many of the problems in the book. A complete set of solutions, prepared by Josef Torok of Rochester Institute of Technology, is available to instructors via the Wiley website at www.wiley.com/college/Boyce.
Important Changes in the Seventh Edition Readers who are familiar with the preceding edition will notice a number of modifications, although the general structure remains much the same. The revisions are designed to make the book more readable by students and more usable in a modern basic course on differential equations. Some changes have to do with content; for example, mathematical modeling, the ideas of stability and instability, and numerical approximations via Euler’s method appear much earlier now than in previous editions. Other modifications are primarily organizational in nature. Most of the changes include new examples to illustrate the underlying ideas. 1. The first two sections of Chapter 1 are new and include an immediate introduction to some problems that lead to differential equations and their solutions. These sections also give an early glimpse of mathematical modeling, of direction fields, and of the basic ideas of stability and instability. 2. Chapter 2 now includes a new Section 2.7 on Euler’s method of numerical approximation. Another change is that most of the material on applications has been consolidated into a single section. Finally, the separate section on first order homogeneous equations has been eliminated and this material has been placed in the problem set on separable equations instead. 3. Section 4.3 on the method of undetermined coefficients for higher order equations has been simplified by using examples rather than giving a general discussion of the method. 4. The discussion of eigenvalues and eigenvectors in Section 7.3 has been shortened by removing the material relating to diagonalization of matrices and to the possible shortage of eigenvectors when an eigenvalue is repeated. This material now appears in later sections of the same chapter where the information is actually used. Sections 7.7 and 7.8 have been modified to give somewhat greater emphasis to fundamental matrices and somewhat less to problems involving repeated eigenvalues.
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5. An example illustrating the instabilities that can be encountered when dealing with stiff equations has been added to Section 8.5. 6. Section 9.2 has been streamlined by considerably shortening the discussion of autonomous systems in general and including instead two examples in which trajectories can be found by integrating a single first order equation. 7. There is a new section 10.1 on two-point boundary value problems for ordinary differential equations. This material can then be called on as the method of separation of variables is developed for partial differential equations. There are also some new three-dimensional plots of solutions of the heat conduction equation and of the wave equation. As the subject matter of differential equations continues to grow, as new technologies become commonplace, as old areas of application are expanded, and as new ones appear on the horizon, the content and viewpoint of courses and their textbooks must also evolve. This is the spirit we have sought to express in this book.
William E. Boyce Troy, New York April, 2000
ACKNOWLEDGMENTS
It is a pleasure to offer my grateful appreciation to the many people who have generously assisted in various ways in the creation of this book. The individuals listed below reviewed the manuscript and provided numerous valuable suggestions for its improvement: Steven M. Baer, Arizona State University Deborah Brandon, Carnegie Mellon University Dante DeBlassie, Texas A & M University Moses Glasner, Pennsylvania State University–University Park David Gurarie, Case Western Reserve University Don A. Jones, Arizona State University Duk Lee, Indiana Wesleyan University Gary M. Lieberman, Iowa State University George Majda, Ohio State University Rafe Mazzeo, Stanford University Jeff Morgan, Texas A & M University James Rovnyak, University of Virginia L.F. Shampine, Southern Methodist University Stan Stascinsky, Tarrant County College Robert L. Wheeler, Virginia Tech I am grateful to my friend of long standing, Charles Haines (Rochester Institute of Technology). In the process of revising once again the Student Solutions Manual he checked the solutions to a great many problems and was responsible for numerous corrections and improvements. I am indebted to my colleagues and students at Rensselaer whose suggestions and reactions through the years have done much to sharpen my knowledge of differential equations as well as my ideas on how to present the subject. My thanks also go to the editorial and production staff of John Wiley and Sons. They have always been ready to offer assistance and have displayed the highest standards of professionalism.
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Most important, I thank my wife Elsa for many hours spent proofreading and checking details, for raising and discussing questions both mathematical and stylistic, and above all for her unfailing support and encouragement during the revision process. In a very real sense this book is a joint product. William E. Boyce
CONTENTS Preface vii
Chapter 1
Introduction 1 1.1 1.2 1.3 1.4
Chapter 2
First Order Differential Equations 29 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9
Chapter 3
Homogeneous Equations with Constant Coefficients 129 Fundamental Solutions of Linear Homogeneous Equations 137 Linear Independence and the Wronskian 147 Complex Roots of the Characteristic Equation 153 Repeated Roots; Reduction of Order 160 Nonhomogeneous Equations; Method of Undetermined Coefficients 169 Variation of Parameters 179 Mechanical and Electrical Vibrations 186 Forced Vibrations 200
Higher Order Linear Equations 209 4.1 4.2
xiv
Linear Equations with Variable Coefficients 29 Separable Equations 40 Modeling with First Order Equations 47 Differences Between Linear and Nonlinear Equations 64 Autonomous Equations and Population Dynamics 74 Exact Equations and Integrating Factors 89 Numerical Approximations: Euler’s Method 96 The Existence and Uniqueness Theorem 105 First Order Difference Equations 115
Second Order Linear Equations 129 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9
Chapter 4
Some Basic Mathematical Models; Direction Fields 1 Solutions of Some Differential Equations 9 Classification of Differential Equations 17 Historical Remarks 23
General Theory of nth Order Linear Equations 209 Homogeneous Equations with Constant Coeffients 214
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4.3 4.4
Chapter 5
Series Solutions of Second Order Linear Equations 231 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8
Chapter 6
Definition of the Laplace Transform 293 Solution of Initial Value Problems 299 Step Functions 310 Differential Equations with Discontinuous Forcing Functions 317 Impulse Functions 324 The Convolution Integral 330
Systems of First Order Linear Equations 339 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9
Chapter 8
Review of Power Series 231 Series Solutions near an Ordinary Point, Part I 238 Series Solutions near an Ordinary Point, Part II 249 Regular Singular Points 255 Euler Equations 260 Series Solutions near a Regular Singular Point, Part I 267 Series Solutions near a Regular Singular Point, Part II 272 Bessel’s Equation 280
The Laplace Transform 293 6.1 6.2 6.3 6.4 6.5 6.6
Chapter 7
The Method of Undetermined Coefficients 222 The Method of Variation of Parameters 226
Introduction 339 Review of Matrices 348 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors 357 Basic Theory of Systems of First Order Linear Equations 368 Homogeneous Linear Systems with Constant Coefficients 373 Complex Eigenvalues 384 Fundamental Matrices 393 Repeated Eigenvalues 401 Nonhomogeneous Linear Systems 411
Numerical Methods 419 8.1 8.2
The Euler or Tangent Line Method 419 Improvements on the Euler Method 430
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8.3 8.4 8.5 8.6
Chapter 9
Nonlinear Differential Equations and Stability 459 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8
Chapter 10
The Phase Plane; Linear Systems 459 Autonomous Systems and Stability 471 Almost Linear Systems 479 Competing Species 491 Predator–Prey Equations 503 Liapunov’s Second Method 511 Periodic Solutions and Limit Cycles 521 Chaos and Strange Attractors; the Lorenz Equations 532
Partial Differential Equations and Fourier Series 541 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8
Chapter 11
The Runge–Kutta Method 435 Multistep Methods 439 More on Errors; Stability 445 Systems of First Order Equations 455
Two-Point Boundary Valve Problems 541 Fourier Series 547 The Fourier Convergence Theorem 558 Even and Odd Functions 564 Separation of Variables; Heat Conduction in a Rod 573 Other Heat Conduction Problems 581 The Wave Equation; Vibrations of an Elastic String 591 Laplace’s Equation 604 Appendix A. Derivation of the Heat Conduction Equation 614 Appendix B. Derivation of the Wave Equation 617
Boundary Value Problems and Sturm–Liouville Theory 621 11.1 11.2 11.3 11.4 11.5
The Occurrence of Two Point Boundary Value Problems 621 Sturm–Liouville Boundary Value Problems 629 Nonhomogeneous Boundary Value Problems 641 Singular Sturm–Liouville Problems 656 Further Remarks on the Method of Separation of Variables: A Bessel Series Expansion 663 11.6 Series of Orthogonal Functions: Mean Convergence 669 Answers to Problems 679 Index 737
CHAPTER
1
Introduction
In this chapter we try in several different ways to give perspective to your study of differential equations. First, we use two problems to illustrate some of the basic ideas that we will return to and elaborate upon frequently throughout the remainder of the book. Later, we indicate several ways of classifying equations, in order to provide organizational structure for the book. Finally, we outline some of the major figures and trends in the historical development of the subject. The study of differential equations has attracted the attention of many of the world’s greatest mathematicians during the past three centuries. Nevertheless, it remains a dynamic field of inquiry today, with many interesting open questions.
1.1 Some Basic Mathematical Models; Direction Fields ODE
ODE
Before embarking on a serious study of differential equations (for example, by reading this book or major portions of it) you should have some idea of the possible benefits to be gained by doing so. For some students the intrinsic interest of the subject itself is enough motivation, but for most it is the likelihood of important applications to other fields that makes the undertaking worthwhile. Many of the principles, or laws, underlying the behavior of the natural world are statements or relations involving rates at which things happen. When expressed in mathematical terms the relations are equations and the rates are derivatives. Equations containing derivatives are differential equations. Therefore, to understand and to investigate problems involving the motion of fluids, the flow of current in electric
1
2
Chapter 1. Introduction
circuits, the dissipation of heat in solid objects, the propagation and detection of seismic waves, or the increase or decrease of populations, among many others, it is necessary to know something about differential equations. A differential equation that describes some physical process is often called a mathematical model of the process, and many such models are discussed throughout this book. In this section we begin with two models leading to equations that are easy to solve. It is noteworthy that even the simplest differential equations provide useful models of important physical processes.
EXAMPLE
1 A Falling Object
Suppose that an object is falling in the atmosphere near sea level. Formulate a differential equation that describes the motion. We begin by introducing letters to represent various quantities of possible interest in this problem. The motion takes place during a certain time interval, so let us use t to denote time. Also, let us use v to represent the velocity of the falling object. The velocity will presumably change with time, so we think of v as a function of t; in other words, t is the independent variable and v is the dependent variable. The choice of units of measurement is somewhat arbitrary, and there is nothing in the statement of the problem to suggest appropriate units, so we are free to make any choice that seems reasonable. To be specific, let us measure time t in seconds and velocity v in meters/second. Further, we will assume that v is positive in the downward direction, that is, when the object is falling. The physical law that governs the motion of objects is Newton’s second law, which states that the mass of the object times its acceleration is equal to the net force on the object. In mathematical terms this law is expressed by the equation F = ma.
(1)
In this equation m is the mass of the object, a is its acceleration, and F is the net force exerted on the object. To keep our units consistent, we will measure m in kilograms, a in meters/second2 , and F in newtons. Of course, a is related to v by a = dv/dt, so we can rewrite Eq. (1) in the form F = m(dv/dt).
(2)
Next, consider the forces that act on the object as it falls. Gravity exerts a force equal to the weight of the object, or mg, where g is the acceleration due to gravity. In the units we have chosen, g has been determined experimentally to be approximately equal to 9.8 m/sec2 near the earth’s surface. There is also a force due to air resistance, or drag, which is more difficult to model. This is not the place for an extended discussion of the drag force; suffice it to say that it is often assumed that the drag is proportional to the velocity, and we will make that assumption here. Thus the drag force has the magnitude γ v, where γ is a constant called the drag coefficient. In writing an expression for the net force F we need to remember that gravity always acts in the downward (positive) direction, while drag acts in the upward (negative) direction, as shown in Figure 1.1.1. Thus F = mg − γ v
(3)
3
1.1 Some Basic Mathematical Models; Direction Fields
and Eq. (2) then becomes dv = mg − γ v. (4) dt Equation (4) is a mathematical model of an object falling in the atmosphere near sea level. Note that the model contains the three constants m, g, and γ . The constants m and γ depend very much on the particular object that is falling, and usually will be different for different objects. It is common to refer to them as parameters, since they may take on a range of values during the course of an experiment. On the other hand, the value of g is the same for all objects. m
γυ m mg
FIGURE 1.1.1 Free-body diagram of the forces on a falling object.
To solve Eq. (4) we need to find a function v = v(t) that satisfies the equation. It is not hard to do this and we will show you how in the next section. For the present, however, let us see what we can learn about solutions without actually finding any of them. Our task is simplified slightly if we assign numerical values to m and γ , but the procedure is the same regardless of which values we choose. So, let us suppose that m = 10 kg and γ = 2 kg/sec. If the units for γ seem peculiar, remember that γ v must have the units of force, namely, kg-m/sec2 . Then Eq. (4) can be rewritten as v dv = 9.8 − . dt 5
EXAMPLE
2 A Falling Object (continued)
(5)
Investigate the behavior of solutions of Eq. (5) without actually finding the solutions in question. We will proceed by looking at Eq. (5) from a geometrical viewpoint. Suppose that v has a certain value. Then, by evaluating the right side of Eq. (5), we can find the corresponding value of dv/dt. For instance, if v = 40, then dv/dt = 1.8. This means that the slope of a solution v = v(t) has the value 1.8 at any point where v = 40. We can display this information graphically in the tv-plane by drawing short line segments, or arrows, with slope 1.8 at several points on the line v = 40. Similarly, if v = 50, then dv/dt = −0.2, so we draw line segments with slope −0.2 at several points on the line v = 50. We obtain Figure 1.1.2 by proceeding in the same way with other values of v. Figure 1.1.2 is an example of what is called a direction field or sometimes a slope field. The importance of Figure 1.1.2 is that each line segment is a tangent line to the graph of a solution of Eq. (5). Thus, even though we have not found any solutions, and
4
Chapter 1. Introduction υ 60 56 52 48 44 40 2
4
6
8
10
t
FIGURE 1.1.2 A direction field for Eq. (5).
no graphs of solutions appear in the figure, we can nonetheless draw some qualitative conclusions about the behavior of solutions. For instance, if v is less than a certain critical value, then all the line segments have positive slopes, and the speed of the falling object increases as it falls. On the other hand, if v is greater than the critical value, then the line segments have negative slopes, and the falling object slows down as it falls. What is this critical value of v that separates objects whose speed is increasing from those whose speed is decreasing? Referring again to Eq. (5), we ask what value of v will cause dv/dt to be zero? The answer is v = (5)(9.8) = 49 m/sec. In fact, the constant function v(t) = 49 is a solution of Eq. (5). To verify this statement, substitute v(t) = 49 into Eq. (5) and observe that each side of the equation is zero. Because it does not change with time, the solution v(t) = 49 is called an equilibrium solution. It is the solution that corresponds to a balance between gravity and drag. In Figure 1.1.3 we show the equilibrium solution v(t) = 49 superimposed on the direction field. From this figure we can draw another conclusion, namely, that all other solutions seem to be converging to the equilibrium solution as t increases. υ 60 56 52 48 44 40 2
4
6
8
10
t
FIGURE 1.1.3 Direction field and equilibrium solution for Eq. (5).
5
1.1 Some Basic Mathematical Models; Direction Fields
The approach illustrated in Example 2 can be applied equally well to the more general Eq. (4), where the parameters m and γ are unspecified positive numbers. The results are essentially identical to those of Example 2. The equilibrium solution of Eq. (4) is v(t) = mg/γ . Solutions below the equilibrium solution increase with time, those above it decrease with time, and all other solutions approach the equilibrium solution as t becomes large. Direction Fields. Direction fields are valuable tools in studying the solutions of differential equations of the form dy = f (t, y), dt
(6)
where f is a given function of the two variables t and y, sometimes referred to as the rate function. The equation in Example 2 is somewhat simpler in that in it f is a function of the dependent variable alone and not of the independent variable. A useful direction field for equations of the general form (6) can be constructed by evaluating f at each point of a rectangular grid consisting of at least a few hundred points. Then, at each point of the grid, a short line segment is drawn whose slope is the value of f at that point. Thus each line segment is tangent to the graph of the solution passing through that point. A direction field drawn on a fairly fine grid gives a good picture of the overall behavior of solutions of a differential equation. The construction of a direction field is often a useful first step in the investigation of a differential equation. Two observations are worth particular mention. First, in constructing a direction field, we do not have to solve Eq. (6), but merely evaluate the given function f (t, y) many times. Thus direction fields can be readily constructed even for equations that may be quite difficult to solve. Second, repeated evaluation of a given function is a task for which a computer is well suited and you should usually use a computer to draw a direction field. All the direction fields shown in this book, such as the one in Figure 1.1.2, were computer-generated. Field Mice and Owls. Now let us look at another quite different example. Consider a population of field mice who inhabit a certain rural area. In the absence of predators we assume that the mouse population increases at a rate proportional to the current population. This assumption is not a well-established physical law (as Newton’s law of motion is in Example 1), but it is a common initial hypothesis 1 in a study of population growth. If we denote time by t and the mouse population by p(t), then the assumption about population growth can be expressed by the equation dp = r p, dt
(7)
where the proportionality factor r is called the rate constant or growth rate. To be specific, suppose that time is measured in months and that the rate constant r has the value 0.5/month. Then each term in Eq. (7) has the units of mice/month. Now let us add to the problem by supposing that several owls live in the same neighborhood and that they kill 15 field mice per day. To incorporate this information 1
A somewhat better model of population growth is discussed later in Section 2.5.
6
Chapter 1. Introduction
into the model, we must add another term to the differential equation (7), so that it becomes dp = 0.5 p − 450. (8) dt Observe that the predation term is −450 rather than −15 because time is measured in months and the monthly predation rate is needed.
EXAMPLE
3
Investigate the solutions of Eq. (8) graphically. A direction field for Eq. (8) is shown in Figure 1.1.4. For sufficiently large values of p it can be seen from the figure, or directly from Eq. (8) itself, that dp/dt is positive, so that solutions increase. On the other hand, for small values of p the opposite is the case. Again, the critical value of p that separates solutions that increase from those that decrease is the value of p for which dp/dt is zero. By setting dp/dt equal to zero in Eq. (8) and then solving for p, we find the equilibrium solution p(t) = 900 for which the growth term and the predation term in Eq. (8) are exactly balanced. The equilibrium solution is also shown in Figure 1.1.4. p 1000
950
900
850
800 1
2
3
4
5
t
FIGURE 1.1.4 A direction field for Eq. (8).
Comparing this example with Example 2, we note that in both cases the equilibrium solution separates increasing from decreasing solutions. However, in Example 2 other solutions converge to, or are attracted by, the equilibrium solution, while in Example 3 other solutions diverge from, or are repelled by, the equilibrium solution. In both cases the equilibrium solution is very important in understanding how solutions of the given differential equation behave. A more general version of Eq. (8) is dp = r p − k, dt
(9)
1.1 Some Basic Mathematical Models; Direction Fields
7
where the growth rate r and the predation rate k are unspecified. Solutions of this more general equation behave very much like those of Eq. (8). The equilibrium solution of Eq. (9) is p(t) = k/r . Solutions above the equilibrium solution increase, while those below it decrease. You should keep in mind that both of the models discussed in this section have their limitations. The model (5) of the falling object ceases to be valid as soon as the object hits the ground, or anything else that stops or slows its fall. The population model (8) eventually predicts negative numbers of mice (if p < 900) or enormously large numbers (if p > 900). Both these predictions are unrealistic, so this model becomes unacceptable after a fairly short time interval. Constructing Mathematical Models. In applying differential equations to any of the numerous fields in which they are useful, it is necessary first to formulate the appropriate differential equation that describes, or models, the problem being investigated. In this section we have looked at two examples of this modeling process, one drawn from physics and the other from ecology. In constructing future mathematical models yourself, you should recognize that each problem is different, and that successful modeling is not a skill that can be reduced to the observance of a set of prescribed rules. Indeed, constructing a satisfactory model is sometimes the most difficult part of the problem. Nevertheless, it may be helpful to list some steps that are often part of the process: 1. 2.
3.
4.
5.
6.
Identify the independent and dependent variables and assign letters to represent them. The independent variable is often time. Choose the units of measurement for each variable. In a sense the choice of units is arbitrary, but some choices may be much more convenient than others. For example, we chose to measure time in seconds in the falling object problem and in months in the population problem. Articulate the basic principle that underlies or governs the problem you are investigating. This may be a widely recognized physical law, such as Newton’s law of motion, or it may be a more speculative assumption that may be based on your own experience or observations. In any case, this step is likely not to be a purely mathematical one, but will require you to be familiar with the field in which the problem lies. Express the principle or law in step 3 in terms of the variables you chose in step 1. This may be easier said than done. It may require the introduction of physical constants or parameters (such as the drag coefficient in Example 1) and the determination of appropriate values for them. Or it may involve the use of auxiliary or intermediate variables that must then be related to the primary variables. Make sure that each term in your equation has the same physical units. If this is not the case, then your equation is wrong and you should seek to repair it. If the units agree, then your equation at least is dimensionally consistent, although it may have other shortcomings that this test does not reveal. In the problems considered here the result of step 4 is a single differential equation, which constitutes the desired mathematical model. Keep in mind, though, that in more complex problems the resulting mathematical model may be much more complicated, perhaps involving a system of several differential equations, for example.
8
Chapter 1. Introduction
PROBLEMS
In each of Problems 1 through 6 draw a direction field for the given differential equation. Based on the direction field, determine the behavior of y as t → ∞. If this behavior depends on the initial value of y at t = 0, describe this dependency. 1. y = 3 − 2y 3. y = 3 + 2y 5. y = 1 + 2y
䉴 䉴 䉴
䉴 䉴 䉴
2. y = 2y − 3 4. y = −1 − 2y 6. y = y + 2
In each of Problems 7 through 10 write down a differential equation of the form dy/dt = ay + b whose solutions have the required behavior as t → ∞. 7. All solutions approach y = 3. 9. All other solutions diverge from y = 2.
8. All solutions approach y = 2/3. 10. All other solutions diverge from y = 1/3.
In each of Problems 11 through 14 draw a direction field for the given differential equation. Based on the direction field, determine the behavior of y as t → ∞. If this behavior depends on the initial value of y at t = 0, describe this dependency. Note that in these problems the equations are not of the form y = ay + b and the behavior of their solutions is somewhat more complicated than for the equations in the text.
䉴 11. y = y(4 − y) 䉴 13. y = y 2
䉴 12. y = −y(5 − y) 䉴 14. y = y(y − 2)2
15. A pond initially contains 1,000,000 gal of water and an unknown amount of an undesirable chemical. Water containing 0.01 gram of this chemical per gallon flows into the pond at a rate of 300 gal/min. The mixture flows out at the same rate so the amount of water in the pond remains constant. Assume that the chemical is uniformly distributed throughout the pond. (a) Write a differential equation whose solution is the amount of chemical in the pond at any time. (b) How much of the chemical will be in the pond after a very long time? Does this limiting amount depend on the amount that was present initially? 16. A spherical raindrop evaporates at a rate proportional to its surface area. Write a differential equation for the volume of the raindrop as a function of time. 17. A certain drug is being administered intravenously to a hospital patient. Fluid containing 5 mg/cm3 of the drug enters the patient’s bloodstream at a rate of 100 cm3 /hr. The drug is absorbed by body tissues or otherwise leaves the bloodstream at a rate proportional to the amount present, with a rate constant of 0.4 (hr)−1 . (a) Assuming that the drug is always uniformly distributed throughout the bloodstream, write a differential equation for the amount of the drug that is present in the bloodstream at any time. (b) How much of the drug is present in the bloodstream after a long time? 䉴 18. For small, slowly falling objects the assumption made in the text that the drag force is proportional to the velocity is a good one. For larger, more rapidly falling objects it is more accurate to assume that the drag force is proportional to the square of the velocity.2 (a) Write a differential equation for the velocity of a falling object of mass m if the drag force is proportional to the square of the velocity. (b) Determine the limiting velocity after a long time. (c) If m = 10 kg, find the drag coefficient so that the limiting velocity is 49 m /sec. (d) Using the data in part (c), draw a direction field and compare it with Figure 1.1.3. 2
See Lyle N. Long and Howard Weiss, “The Velocity Dependence of Aerodynamic Drag: A Primer for Mathematicians,” Amer. Math. Monthly 106, 2 (1999), pp. 127–135.
9
1.2 Solutions of Some Differential Equations
In each of Problems 19 through 26 draw a direction field for the given differential equation. Based on the direction field, determine the behavior of y as t → ∞. If this behavior depends on the initial value of y at t = 0, describe this dependency. Note that the right sides of these equations depend on t as well as y; therefore their solutions can exhibit more complicated behavior than those in the text.
䉴 䉴 䉴 䉴
19. 21. 23. 25.
y y y y
䉴 䉴 䉴 䉴
= −2 + t − y = e−t + y = 3 sin t + 1 + y = −(2t + y)/2y
20. 22. 24. 26.
y y y y
= te−2t − 2y = t + 2y = 2t − 1 − y 2 = y 3 /6 − y − t 2 /3
1.2 Solutions of Some Differential Equations In the preceding section we derived differential equations,
ODE
m
dv = mg − γ v dt
(1)
and dp = r p − k, (2) dt which model a falling object and a population of field mice preyed upon by owls, respectively. Both these equations are of the general form dy = ay − b, (3) dt where a and b are given constants. We were able to draw some important qualitative conclusions about the behavior of solutions of Eqs. (1) and (2) by considering the associated direction fields. To answer questions of a quantitative nature, however, we need to find the solutions themselves, and we now investigate how to do that.
Consider the equation EXAMPLE
1 Field Mice and Owls (continued)
dp = 0.5 p − 450, (4) dt which describes the interaction of certain populations of field mice and owls [see Eq. (8) of Section 1.1]. Find solutions of this equation. To solve Eq. (4) we need to find functions p(t) that, when substituted into the equation, reduce it to an obvious identity. Here is one way to proceed. First, rewrite Eq. (4) in the form dp p − 900 = , dt 2
(5)
dp/dt 1 = . p − 900 2
(6)
or, if p = 900,
10
Chapter 1. Introduction
Since, by the chain rule, the left side of Eq. (6) is the derivative of ln | p − 900| with respect to t, it follows that 1 d ln | p − 900| = . (7) dt 2 Then, by integrating both sides of Eq. (7), we obtain t (8) ln | p − 900| = + C, 2 where C is an arbitrary constant of integration. Therefore, by taking the exponential of both sides of Eq. (8), we find that | p − 900| = eC et/2 ,
(9)
p − 900 = ±eC et/2 ,
(10)
p = 900 + cet/2 ,
(11)
or
and finally where c = ±eC is also an arbitrary (nonzero) constant. Note that the constant function p = 900 is also a solution of Eq. (5) and that it is contained in the expression (11) if we allow c to take the value zero. Graphs of Eq. (11) for several values of c are shown in Figure 1.2.1. p 1200 1100 1000 900 800 700 600 1
2
3
4
5
t
FIGURE 1.2.1 Graphs of Eq. (11) for several values of c.
Note that they have the character inferred from the direction field in Figure 1.1.4. For instance, solutions lying on either side of the equilibrium solution p = 900 tend to diverge from that solution. In Example 1 we found infinitely many solutions of the differential equation (4), corresponding to the infinitely many values that the arbitrary constant c in Eq. (11)
11
1.2 Solutions of Some Differential Equations
might have. This is typical of what happens when you solve a differential equation. The solution process involves an integration, which brings with it an arbitrary constant, whose possible values generate an infinite family of solutions. Frequently, we want to focus our attention on a single member of the infinite family of solutions by specifying the value of the arbitrary constant. Most often, we do this indirectly by specifying instead a point that must lie on the graph of the solution. For example, to determine the constant c in Eq. (11), we could require that the population have a given value at a certain time, such as the value 850 at time t = 0. In other words, the graph of the solution must pass through the point (0, 850). Symbolically, we can express this condition as p(0) = 850.
(12)
Then, substituting t = 0 and p = 850 into Eq. (11), we obtain 850 = 900 + c. Hence c = −50, and by inserting this value in Eq. (11), we obtain the desired solution, namely, p = 900 − 50et/2 .
(13)
The additional condition (12) that we used to determine c is an example of an initial condition. The differential equation (4) together with the initial condition (12) form an initial value problem. Now consider the more general problem consisting of the differential equation (3) dy = ay − b dt and the initial condition y(0) = y0 ,
(14)
where y0 is an arbitrary initial value. We can solve this problem by the same method as in Example 1. If a = 0 and y = b/a, then we can rewrite Eq. (3) as dy/dt = a. y − (b/a)
(15)
By integrating both sides, we find that ln |y − (b/a)| = at + C,
(16)
where C is arbitrary. Then, taking the exponential of both sides of Eq. (16) and solving for y, we obtain y = (b/a) + ceat ,
(17)
where c = ±eC is also arbitrary. Observe that c = 0 corresponds to the equilibrium solution y = b/a. Finally, the initial condition (14) requires that c = y0 − (b/a), so the solution of the initial value problem (3), (14) is y = (b/a) + [y0 − (b/a)]eat .
(18)
The expression (17) contains all possible solutions of Eq. (3) and is called the general solution. The geometrical representation of the general solution (17) is an infinite family of curves, called integral curves. Each integral curve is associated with
12
Chapter 1. Introduction
a particular value of c, and is the graph of the solution corresponding to that value of c. Satisfying an initial condition amounts to identifying the integral curve that passes through the given initial point. To relate the solution (18) to Eq. (2), which models the field mouse population, we need only replace a by the growth rate r and b by the predation rate k. Then the solution (18) becomes p = (k/r ) + [ p0 − (k/r )]er t ,
(19)
where p0 is the initial population of field mice. The solution (19) confirms the conclusions reached on the basis of the direction field and Example 1. If p0 = k/r , then from Eq. (19) it follows that p = k/r for all t; this is the constant, or equilibrium, solution. If p0 = k/r , then the behavior of the solution depends on the sign of the coefficient p0 − (k/r ) of the exponential term in Eq. (19). If p0 > k/r , then p grows exponentially with time t; if p0 < k/r , then p decreases and eventually becomes zero, corresponding to extinction of the field mouse population. Negative values of p, while possible for the expression (19), make no sense in the context of this particular problem. To put the falling object equation (1) in the form (3), we must identify a with −γ /m and b with −g. Making these substitutions in the solution (18), we obtain v = (mg/γ ) + [v0 − (mg/γ )]e−γ t/m ,
(20)
where v0 is the initial velocity. Again, this solution confirms the conclusions reached in Section 1.1 on the basis of a direction field. There is an equilibrium, or constant, solution v = mg/γ , and all other solutions tend to approach this equilibrium solution. The speed of convergence to the equilibrium solution is determined by the exponent −γ /m. Thus, for a given mass m the velocity approaches the equilibrium value faster as the drag coefficient γ increases.
EXAMPLE
2 A Falling Object (continued)
Suppose that, as in Example 2 of Section 1.1, we consider a falling object of mass m = 10 kg and drag coefficient γ = 2 kg/sec. Then the equation of motion (1) becomes v dv = 9.8 − . (21) dt 5 Suppose this object is dropped from a height of 300 m. Find its velocity at any time t. How long will it take to fall to the ground, and how fast will it be moving at the time of impact? The first step is to state an appropriate initial condition for Eq. (21). The word “dropped” in the statement of the problem suggests that the initial velocity is zero, so we will use the initial condition v(0) = 0.
(22)
The solution of Eq. (21) can be found by substituting the values of the coefficients into the solution (20), but we will proceed instead to solve Eq. (21) directly. First, rewrite the equation as 1 dv/dt =− . v − 49 5
(23)
13
1.2 Solutions of Some Differential Equations
By integrating both sides we obtain t ln |v − 49| = − + C, 5 and then the general solution of Eq. (21) is
(24)
v = 49 + ce−t/5 ,
(25)
where c is arbitrary. To determine c, we substitute t = 0 and v = 0 from the initial condition (22) into Eq. (25), with the result that c = −49. Then the solution of the initial value problem (21), (22) is v = 49(1 − e−t/5 ).
(26)
Equation (26) gives the velocity of the falling object at any positive time (before it hits the ground, of course). Graphs of the solution (25) for several values of c are shown in Figure 1.2.2, with the solution (26) shown by the heavy curve. It is evident that all solutions tend to approach the equilibrium solution v = 49. This confirms the conclusions we reached in Section 1.1 on the basis of the direction fields in Figures 1.1.2 and 1.1.3. v 100 80 60 40
(10.51, 43.01) v = 49 (1 – e–t/5)
20
2
4
6
8
10
12
t
FIGURE 1.2.2 Graphs of the solution (25) for several values of c.
To find the velocity of the object when it hits the ground, we need to know the time at which impact occurs. In other words, we need to determine how long it takes the object to fall 300 m. To do this, we note that the distance x the object has fallen is related to its velocity v by the equation v = dx/dt, or dx = 49(1 − e−t/5 ). dt
(27)
x = 49t + 245e−t/5 + c,
(28)
Consequently,
14
Chapter 1. Introduction
where c is an arbitrary constant of integration. The object starts to fall when t = 0, so we know that x = 0 when t = 0. From Eq. (28) it follows that c = −245, so the distance the object has fallen at time t is given by x = 49t + 245e−t/5 − 245.
(29)
Let T be the time at which the object hits the ground; then x = 300 when t = T . By substituting these values in Eq. (29) we obtain the equation 49T + 245e−T /5 − 545 = 0.
(30)
The value of T satisfying Eq. (30) can be readily approximated by a numerical process using a scientific calculator or computer, with the result that T ∼ = 10.51 sec. At this time, the corresponding velocity vT is found from Eq. (26) to be vT ∼ = 43.01 m/sec. Further Remarks on Mathematical Modeling. Up to this point we have related our discussion of differential equations to mathematical models of a falling object and of a hypothetical relation between field mice and owls. The derivation of these models may have been plausible, and possibly even convincing, but you should remember that the ultimate test of any mathematical model is whether its predictions agree with observations or experimental results. We have no actual observations or experimental results to use for comparison purposes here, but there are several sources of possible discrepancies. In the case of the falling object the underlying physical principle (Newton’s law of motion) is well-established and widely applicable. However, the assumption that the drag force is proportional to the velocity is less certain. Even if this assumption is correct, the determination of the drag coefficient γ by direct measurement presents difficulties. Indeed, sometimes one finds the drag coefficient indirectly, for example, by measuring the time of fall from a given height, and then calculating the value of γ that predicts this time. The model of the field mouse population is subject to various uncertainties. The determination of the growth rate r and the predation rate k depends on observations of actual populations, which may be subject to considerable variation. The assumption that r and k are constants may also be questionable. For example, a constant predation rate becomes harder to sustain as the population becomes smaller. Further, the model predicts that a population above the equilibrium value will grow exponentially larger and larger. This seems at variance with the behavior of actual populations; see the further discussion of population dynamics in Section 2.5. Even if a mathematical model is incomplete or somewhat inaccurate, it may nevertheless be useful in explaining qualitative features of the problem under investigation. It may also be valid under some circumstances but not others. Thus you should always use good judgment and common sense in constructing mathematical models and in using their predictions.
PROBLEMS 䉴
1. Solve each of the following initial value problems and plot the solutions for several values of y0 . Then describe in a few words how the solutions resemble, and differ from, each other. (a) dy/dt = −y + 5, y(0) = y0 (b) dy/dt = −2y + 5, y(0) = y0 (c) dy/dt = −2y + 10, y(0) = y0
15
1.2 Solutions of Some Differential Equations
䉴
2. Follow the instructions for Problem 1 for the following initial value problems: (a) dy/dt = y − 5, y(0) = y0 (b) dy/dt = 2y − 5, y(0) = y0 (c) dy/dt = 2y − 10, y(0) = y0 3. Consider the differential equation dy/dt = −ay + b, where both a and b are positive numbers. (a) Solve the differential equation. (b) Sketch the solution for several different initial conditions. (c) Describe how the solutions change under each of the following conditions: i. a increases. ii. b increases. iii. Both a and b increase, but the ratio b/a remains the same. 4. Here is an alternative way to solve the equation dy/dt = ay − b.
(i)
dy/dt = ay.
(ii)
(a) Solve the simpler equation
Call the solution y1 (t). (b) Observe that the only difference between Eqs. (i) and (ii) is the constant −b in Eq. (i). Therefore it may seem reasonable to assume that the solutions of these two equations also differ only by a constant. Test this assumption by trying to find a constant k so that y = y1 (t) + k is a solution of Eq. (i). (c) Compare your solution from part (b) with the solution given in the text in Eq. (17). Note: This method can also be used in some cases in which the constant b is replaced by a function g(t). It depends on whether you can guess the general form that the solution is likely to take. This method is described in detail in Section 3.6 in connection with second order equations. 5. Use the method of Problem 4 to solve the equation dy/dt = −ay + b. 6. The field mouse population in Example 1 satisfies the differential equation dp/dt = 0.5 p − 450. (a) Find the time at which the population becomes extinct if p(0) = 850. (b) Find the time of extinction if p(0) = p0 , where 0 < p0 < 900. (c) Find the initial population p0 if the population is to become extinct in 1 year. 7. Consider a population p of field mice that grows at a rate proportional to the current population, so that dp/dt = r p. (a) Find the rate constant r if the population doubles in 30 days. (b) Find r if the population doubles in N days. 8. The falling object in Example 2 satisfies the initial value problem dv/dt = 9.8 − (v/5),
v(0) = 0.
(a) Find the time that must elapse for the object to reach 98% of its limiting velocity. (b) How far does the object fall in the time found in part (a)? 9. Modify Example 2 so that the falling object experiences no air resistance. (a) Write down the modified initial value problem. (b) Determine how long it takes the object to reach the ground. (c) Determine its velocity at the time of impact.
16
Chapter 1. Introduction
10. A radioactive material, such as the isotope thorium-234, disintegrates at a rate proportional to the amount currently present. If Q(t) is the amount present at time t, then d Q/dt = −r Q, where r > 0 is the decay rate. (a) If 100 mg of thorium-234 decays to 82.04 mg in 1 week, determine the decay rate r . (b) Find an expression for the amount of thorium-234 present at any time t. (c) Find the time required for the thorium-234 to decay to one-half its original amount. 11. The half-life of a radioactive material is the time required for an amount of this material to decay to one-half its original value. Show that, for any radioactive material that decays according to the equation Q = −r Q, the half-life τ and the decay rate r satisfy the equation r τ = ln 2. 12. Radium-226 has a half-life of 1620 years. Find the time period during which a given amount of this material is reduced by one-quarter. 13. Consider an electric circuit containing a capacitor, resistor, and battery; see Figure 1.2.3. The charge Q(t) on the capacitor satisfies the equation3 R
dQ Q + = V, dt C
where R is the resistance, C is the capacitance, and V is the constant voltage supplied by the battery.
R V C
FIGURE 1.2.3 The electric circuit of Problem 13. (a) If Q(0) = 0, find Q(t) at any time t, and sketch the graph of Q versus t. (b) Find the limiting value Q L that Q(t) approaches after a long time. (c) Suppose that Q(t1 ) = Q L and that the battery is removed from the circuit at t = t1 . Find Q(t) for t > t1 and sketch its graph. 䉴 14. A pond containing 1,000,000 gal of water is initially free of a certain undesirable chemical (see Problem 15 of Section 1.1). Water containing 0.01 g/gal of the chemical flows into the pond at a rate of 300 gal/hr and water also flows out of the pond at the same rate. Assume that the chemical is uniformly distributed throughout the pond. (a) Let Q(t) be the amount of the chemical in the pond at time t. Write down an initial value problem for Q(t). (b) Solve the problem in part (a) for Q(t). How much chemical is in the pond after 1 year? (c) At the end of 1 year the source of the chemical in the pond is removed and thereafter pure water flows into the pond and the mixture flows out at the same rate as before. Write down the initial value problem that describes this new situation. (d) Solve the initial value problem in part (c). How much chemical remains in the pond after 1 additional year (2 years from the beginning of the problem)? (e) How long does it take for Q(t) to be reduced to 10 g? (f) Plot Q(t) versus t for 3 years. 15. Your swimming pool containing 60,000 gal of water has been contaminated by 5 kg of a nontoxic dye that leaves a swimmer’s skin an unattractive green. The pool’s filtering 3
This equation results from Kirchhoff’s laws, which are discussed later in Section 3.8.
17
1.3 Classification of Differential Equations
system can take water from the pool, remove the dye, and return the water to the pool at a rate of 200 gal/min. (a) Write down the initial value problem for the filtering process; let q(t) be the amount of dye in the pool at any time t. (b) Solve the problem in part (a). (c) You have invited several dozen friends to a pool party that is scheduled to begin in 4 hr. You have also determined that the effect of the dye is imperceptible if its concentration is less than 0.02 g/gal. Is your filtering system capable of reducing the dye concentration to this level within 4 hr? (d) Find the time T at which the concentration of dye first reaches the value 0.02 g/gal. (e) Find the flow rate that is sufficient to achieve the concentration 0.02 g/gal within 4 hr.
1.3 Classification of Differential Equations The main purpose of this book is to discuss some of the properties of solutions of differential equations, and to describe some of the methods that have proved effective in finding solutions, or in some cases approximating them. To provide a framework for our presentation we describe here several useful ways of classifying differential equations. Ordinary and Partial Differential Equations. One of the more obvious classifications is based on whether the unknown function depends on a single independent variable or on several independent variables. In the first case, only ordinary derivatives appear in the differential equation, and it is said to be an ordinary differential equation. In the second case, the derivatives are partial derivatives, and the equation is called a partial differential equation. All the differential equations discussed in the preceding two sections are ordinary differential equations. Another example of an ordinary differential equation is d Q(t) 1 d 2 Q(t) +R + Q(t) = E(t), (1) 2 dt C dt for the charge Q(t) on a capacitor in a circuit with capacitance C, resistance R, and inductance L; this equation is derived in Section 3.8. Typical examples of partial differential equations are the heat conduction equation L
∂u(x,t) ∂ 2 u(x,t) = , 2 ∂t ∂x
(2)
∂ 2 u(x,t) ∂ 2 u(x,t) = . ∂x2 ∂t 2
(3)
α2 and the wave equation a2
Here, α 2 and a 2 are certain physical constants. The heat conduction equation describes the conduction of heat in a solid body and the wave equation arises in a variety of problems involving wave motion in solids or fluids. Note that in both Eqs. (2) and (3) the dependent variable u depends on the two independent variables x and t.
18
Chapter 1. Introduction
Systems of Differential Equations. Another classification of differential equations depends on the number of unknown functions that are involved. If there is a single function to be determined, then one equation is sufficient. However, if there are two or more unknown functions, then a system of equations is required. For example, the Lotka–Volterra, or predator–prey, equations are important in ecological modeling. They have the form dx/dt = ax − αx y dy/dt = −cy + γ x y,
(4)
where x(t) and y(t) are the respective populations of the prey and predator species. The constants a, α, c, and γ are based on empirical observations and depend on the particular species being studied. Systems of equations are discussed in Chapters 7 and 9; in particular, the Lotka–Volterra equations are examined in Section 9.5. It is not unusual in some areas of application to encounter systems containing a large number of equations. Order. The order of a differential equation is the order of the highest derivative that appears in the equation. The equations in the preceding sections are all first order equations, while Eq. (1) is a second order equation. Equations (2) and (3) are second order partial differential equations. More generally, the equation F[t, u(t), u (t), . . . , u (n) (t)] = 0
(5)
is an ordinary differential equation of the nth order. Equation (5) expresses a relation between the independent variable t and the values of the function u and its first n derivatives u , u , . . . , u (n) . It is convenient and customary in differential equations to write y for u(t), with y , y , . . . , y (n) standing for u (t), u (t), . . . , u (n) (t). Thus Eq. (5) is written as F(t, y, y , . . . , y (n) ) = 0.
(6)
y + 2et y + yy = t 4
(7)
For example, is a third order differential equation for y = u(t). Occasionally, other letters will be used instead of t and y for the independent and dependent variables; the meaning should be clear from the context. We assume that it is always possible to solve a given ordinary differential equation for the highest derivative, obtaining y (n) = f (t, y, y , y , . . . , y (n−1) ).
(8)
We study only equations of the form (8). This is mainly to avoid the ambiguity that may arise because a single equation of the form (6) may correspond to several equations of the form (8). For example, the equation y 2 + t y + 4y = 0 leads to the two equations −t + t 2 − 16y y = 2
or
y =
(9)
−t −
t 2 − 16y . 2
(10)
19
1.3 Classification of Differential Equations
Linear and Nonlinear Equations. A crucial classification of differential equations is whether they are linear or nonlinear. The ordinary differential equation F(t, y, y , . . . , y (n) ) = 0 is said to be linear if F is a linear function of the variables y, y , . . . , y (n) ; a similar definition applies to partial differential equations. Thus the general linear ordinary differential equation of order n is a0 (t)y (n) + a1 (t)y (n−1) + · · · + an (t)y = g(t).
(11)
Most of the equations you have seen thus far in this book are linear; examples are the equations in Sections 1.1 and 1.2 describing the falling object and the field mouse population. Similarly, in this section, Eq. (1) is a linear ordinary differential equation and Eqs. (2) and (3) are linear partial differential equations. An equation that is not of the form (11) is a nonlinear equation. Equation (7) is nonlinear because of the term yy . Similarly, each equation in the system (4) is nonlinear because of the terms that involve the product x y. A simple physical problem that leads to a nonlinear differential equation is the oscillating pendulum. The angle θ that an oscillating pendulum of length L makes with the vertical direction (see Figure 1.3.1) satisfies the equation g d 2θ + sin θ = 0, (12) 2 L dt whose derivation is outlined in Problem 29. The presence of the term involving sin θ makes Eq. (12) nonlinear. The mathematical theory and methods for solving linear equations are highly developed. In contrast, for nonlinear equations the theory is more complicated and methods of solution are less satisfactory. In view of this, it is fortunate that many significant problems lead to linear ordinary differential equations or can be approximated by linear equations. For example, for the pendulum, if the angle θ is small, then sin θ ∼ = θ and Eq. (12) can be approximated by the linear equation g d 2θ + θ = 0. (13) 2 L dt This process of approximating a nonlinear equation by a linear one is called linearization and it is an extremely valuable way to deal with nonlinear equations. Nevertheless, there are many physical phenomena that simply cannot be represented adequately
θ
L
m
mg
FIGURE 1.3.1 An oscillating pendulum.
20
Chapter 1. Introduction
by linear equations; to study these phenomena it is essential to deal with nonlinear equations. In an elementary text it is natural to emphasize the simpler and more straightforward parts of the subject. Therefore the greater part of this book is devoted to linear equations and various methods for solving them. However, Chapters 8 and 9, as well as parts of Chapter 2, are concerned with nonlinear equations. Whenever it is appropriate, we point out why nonlinear equations are, in general, more difficult, and why many of the techniques that are useful in solving linear equations cannot be applied to nonlinear equations. Solutions. A solution of the ordinary differential equation (8) on the interval α < t < β is a function φ such that φ , φ , . . . , φ (n) exist and satisfy φ (n) (t) = f [t, φ(t), φ (t), . . . , φ (n−1) (t)]
(14)
for every t in α < t < β. Unless stated otherwise, we assume that the function f of Eq. (8) is a real-valued function, and we are interested in obtaining real-valued solutions y = φ(t). Recall that in Section 1.2 we found solutions of certain equations by a process of direct integration. For instance, we found that the equation dp = 0.5 p − 450 dt
(15)
p = 900 + cet/2 ,
(16)
has the solution
where c is an arbitrary constant. It is often not so easy to find solutions of differential equations. However, if you find a function that you think may be a solution of a given equation, it is usually relatively easy to determine whether the function is actually a solution simply by substituting the function into the equation. For example, in this way it is easy to show that the function y1 (t) = cos t is a solution of y + y = 0
(17)
for all t. To confirm this, observe that y1 (t) = − sin t and y1 (t) = − cos t; then it follows that y1 (t) + y1 (t) = 0. In the same way you can easily show that y2 (t) = sin t is also a solution of Eq. (17). Of course, this does not constitute a satisfactory way to solve most differential equations because there are far too many possible functions for you to have a good chance of finding the correct one by a random choice. Nevertheless, it is important to realize that you can verify whether any proposed solution is correct by substituting it into the differential equation. For a problem of any importance this can be a very useful check and is one that you should make a habit of considering. Some Important Questions. Although for the equations (15) and (17) we are able to verify that certain simple functions are solutions, in general we do not have such solutions readily available. Thus a fundamental question is the following: Does an equation of the form (8) always have a solution? The answer is “No.” Merely writing down an equation of the form (8) does not necessarily mean that there is a function y = φ(t) that satisfies it. So, how can we tell whether some particular equation has a solution? This is the question of existence of a solution, and it is answered by theorems stating that under certain restrictions on the function f in Eq. (8), the equation always
1.3 Classification of Differential Equations
21
has solutions. However, this is not a purely mathematical concern, for at least two reasons. If a problem has no solution, we would prefer to know that fact before investing time and effort in a vain attempt to solve the problem. Further, if a sensible physical problem is modeled mathematically as a differential equation, then the equation should have a solution. If it does not, then presumably there is something wrong with the formulation. In this sense an engineer or scientist has some check on the validity of the mathematical model. Second, if we assume that a given differential equation has at least one solution, the question arises as to how many solutions it has, and what additional conditions must be specified to single out a particular solution. This is the question of uniqueness. In general, solutions of differential equations contain one or more arbitrary constants of integration, as does the solution (16) of Eq. (15). Equation (16) represents an infinity of functions corresponding to the infinity of possible choices of the constant c. As we saw in Section 1.2, if p is specified at some time t, this condition will determine a value for c; even so, we have not yet ruled out the possibility that there may be other solutions of Eq. (15) that also have the prescribed value of p at the prescribed time t. The issue of uniqueness also has practical implications. If we are fortunate enough to find a solution of a given problem, and if we know that the problem has a unique solution, then we can be sure that we have completely solved the problem. If there may be other solutions, then perhaps we should continue to search for them. A third important question is: Given a differential equation of the form (8), can we actually determine a solution, and if so, how? Note that if we find a solution of the given equation, we have at the same time answered the question of the existence of a solution. However, without knowledge of existence theory we might, for example, use a computer to find a numerical approximation to a “solution” that does not exist. On the other hand, even though we may know that a solution exists, it may be that the solution is not expressible in terms of the usual elementary functions—polynomial, trigonometric, exponential, logarithmic, and hyperbolic functions. Unfortunately, this is the situation for most differential equations. Thus, while we discuss elementary methods that can be used to obtain solutions of certain relatively simple problems, it is also important to consider methods of a more general nature that can be applied to more difficult problems. Computer Use in Differential Equations. A computer can be an extremely valuable tool in the study of differential equations. For many years computers have been used to execute numerical algorithms, such as those described in Chapter 8, to construct numerical approximations to solutions of differential equations. At the present time these algorithms have been refined to an extremely high level of generality and efficiency. A few lines of computer code, written in a high-level programming language and executed (often within a few seconds) on a relatively inexpensive computer, suffice to solve numerically a wide range of differential equations. More sophisticated routines are also readily available. These routines combine the ability to handle very large and complicated systems with numerous diagnostic features that alert the user to possible problems as they are encountered. The usual output from a numerical algorithm is a table of numbers, listing selected values of the independent variable and the corresponding values of the dependent variable. With appropriate software it is easy to display the solution of a differential equation graphically, whether the solution has been obtained numerically or as the result of an analytical procedure of some kind. Such a graphical display is often much more
22
Chapter 1. Introduction
illuminating and helpful in understanding and interpreting the solution of a differential equation than a table of numbers or a complicated analytical formula. There are on the market several well-crafted and relatively inexpensive special-purpose software packages for the graphical investigation of differential equations. The widespread availability of personal computers has brought powerful computational and graphical capability within the reach of individual students. You should consider, in the light of your own circumstances, how best to take advantage of the available computing resources. You will surely find it enlightening to do so. Another aspect of computer use that is very relevant to the study of differential equations is the availability of extremely powerful and general software packages that can perform a wide variety of mathematical operations. Among these are Maple, Mathematica, and MATLAB, each of which can be used on various kinds of personal computers or workstations. All three of these packages can execute extensive numerical computations and have versatile graphical facilities. In addition, Maple and Mathematica also have very extensive analytical capabilities. For example, they can perform the analytical steps involved in solving many differential equations, often in response to a single command. Anyone who expects to deal with differential equations in more than a superficial way should become familiar with at least one of these products and explore the ways in which it can be used. For you, the student, these computing resources have an effect on how you should study differential equations. To become confident in using differential equations, it is essential to understand how the solution methods work, and this understanding is achieved, in part, by working out a sufficient number of examples in detail. However, eventually you should plan to delegate as many as possible of the routine (often repetitive) details to a computer, while you focus more attention on the proper formulation of the problem and on the interpretation of the solution. Our viewpoint is that you should always try to use the best methods and tools available for each task. In particular, you should strive to combine numerical, graphical, and analytical methods so as to attain maximum understanding of the behavior of the solution and of the underlying process that the problem models. You should also remember that some tasks can best be done with pencil and paper, while others require a calculator or computer. Good judgment is often needed in selecting a judicious combination.
PROBLEMS
In each of Problems 1 through 6 determine the order of the given differential equation; also state whether the equation is linear or nonlinear. d2 y dy +t + 2y = sin t dt dt 2 d4 y d3 y d2 y dy 3. + 3 + 2 + +y=1 4 dt dt dt dt d2 y + sin(t + y) = sin t 5. dt 2
1. t 2
2. (1 + y 2 )
d2 y dy +t + y = et dt dt 2
dy + t y2 = 0 dt d3 y dy 6. +t + (cos2 t)y = t 3 3 dt dt
4.
In each of Problems 7 through 14 verify that the given function or functions is a solution of the differential equation. y1 (t) = et , y2 (t) = cosh t 7. y − y = 0; 8. y + 2y − 3y = 0; y1 (t) = e−3t , y2 (t) = et 2 9. t y − y = t ; y = 3t + t 2
23
1.4 Historical Remarks
y + 4y + 3y = t; y1 (t) = t/3, y2 (t) = e−t + t/3 2 y1 (t) = t 1/2 , y2 (t) = t −1 2t y + 3t y − y = 0, t > 0; t 2 y + 5t y + 4y = 0, t > 0; y1 (t) = t −2 , y2 (t) = t −2 ln t y + y = sec t, 0 < t < π/2; y = (cos t) ln cos t + t sin t t 2 2 2 14. y − 2t y = 1; y = et e−s ds + et 10. 11. 12. 13.
0
In each of Problems 15 through 18 determine the values of r for which the given differential equation has solutions of the form y = er t . 15. y + 2y = 0 16. y − y = 0 17. y + y − 6y = 0 18. y − 3y + 2y = 0 In each of Problems 19 and 20 determine the values of r for which the given differential equation has solutions of the form y = t r for t > 0. 19. t 2 y + 4t y + 2y = 0 20. t 2 y − 4t y + 4y = 0 In each of Problems 21 through 24 determine the order of the given partial differential equation; also state whether the equation is linear or nonlinear. Partial derivatives are denoted by subscripts. 21. u x x + u yy + u zz = 0
22. u x x + u yy + uu x + uu y + u = 0
23. u x x x x + 2u x x yy + u yyyy = 0
24. u t + uu x = 1 + u x x
In each of Problems 25 through 28 verify that the given function or functions is a solution of the given partial differential equation. u 1 (x, y) = cos x cosh y, u 2 (x, y) = ln(x 2 + y 2 ) 25. u x x + u yy = 0; 26. α 2 u x x = u t ; 27. a 2 u x x = u tt ; 28. α 2 u x x = u t ;
2
2 2
u 1 (x, t) = e−α t sin x, u 2 (x, t) = e−α λ t sin λx, λ a real constant u 1 (x, t) = sin λx sin λat, u 2 (x, t) = sin(x − at), λ a real constant u = (π/t)1/2 e−x
2 /4α 2 t
,
t >0
29. Follow the steps indicated here to derive the equation of motion of a pendulum, Eq. (12) in the text. Assume that the rod is rigid and weightless, that the mass is a point mass, and that there is no friction or drag anywhere in the system. (a) Assume that the mass is in an arbitrary displaced position, indicated by the angle θ . Draw a free-body diagram showing the forces acting on the mass. (b) Apply Newton’s law of motion in the direction tangential to the circular arc on which the mass moves. Then the tensile force in the rod does not enter the equation. Observe that you need to find the component of the gravitational force in the tangential direction. Observe also that the linear acceleration, as opposed to the angular acceleration, is Ld 2 θ/dt 2 , where L is the length of the rod. (c) Simplify the result from part (b) to obtain Eq. (12) of the text.
1.4 Historical Remarks Without knowing something about differential equations and methods of solving them, it is difficult to appreciate the history of this important branch of mathematics. Further, the development of differential equations is intimately interwoven with the general development of mathematics and cannot be separated from it. Nevertheless, to provide some historical perspective, we indicate here some of the major trends in the history of
24
Chapter 1. Introduction
the subject, and identify the most prominent early contributors. Other historical information is contained in footnotes scattered throughout the book and in the references listed at the end of the chapter. The subject of differential equations originated in the study of calculus by Isaac Newton (1642–1727) and Gottfried Wilhelm Leibniz (1646–1716) in the seventeenth century. Newton grew up in the English countryside, was educated at Trinity College, Cambridge, and became Lucasian Professor of Mathematics there in 1669. His epochal discoveries of calculus and of the fundamental laws of mechanics date from 1665. They were circulated privately among his friends, but Newton was extremely sensitive to criticism, and did not begin to publish his results until 1687 with the appearance of his most famous book, Philosophiae Naturalis Principia Mathematica. While Newton did relatively little work in differential equations as such, his development of the calculus and elucidation of the basic principles of mechanics provided a basis for their applications in the eighteenth century, most notably by Euler. Newton classified first order differential equations according to the forms dy/dx = f (x), dy/dx = f (y), and dy/dx = f (x,y). For the latter equation he developed a method of solution using infinite series when f (x,y) is a polynomial in x and y. Newton’s active research in mathematics ended in the early 1690s except for the solution of occasional challenge problems and the revision and publication of results obtained much earlier. He was appointed Warden of the British Mint in 1696 and resigned his professorship a few years later. He was knighted in 1705 and, upon his death, was buried in Westminster Abbey. Leibniz was born in Leipzig and completed his doctorate in philosophy at the age of 20 at the University of Altdorf. Throughout his life he engaged in scholarly work in several different fields. He was mainly self-taught in mathematics, since his interest in this subject developed when he was in his twenties. Leibniz arrived at the fundamental results of calculus independently, although a little later than Newton, but was the first to publish them, in 1684. Leibniz was very conscious of the power of good mathematical notation, and our notation for the derivative, dy/dx, and the integral sign are due to him. He discovered the method of separation of variables (Section 2.2) in 1691, the reduction of homogeneous equations to separable ones (Section 2.2, Problem 30) in 1691, and the procedure for solving first order linear equations (Section 2.1) in 1694. He spent his life as ambassador and adviser to several German royal families, which permitted him to travel widely and to carry on an extensive correspondence with other mathematicians, especially the Bernoulli brothers. In the course of this correspondence many problems in differential equations were solved during the latter part of the seventeenth century. The brothers Jakob (1654–1705) and Johann (1667–1748) Bernoulli of Basel did much to develop methods of solving differential equations and to extend the range of their applications. Jakob became professor of mathematics at Basel in 1687, and Johann was appointed to the same position upon his brother’s death in 1705. Both men were quarrelsome, jealous, and frequently embroiled in disputes, especially with each other. Nevertheless, both also made significant contributions to several areas of mathematics. With the aid of calculus they solved a number of problems in mechanics by formulating them as differential equations. For example, Jakob Bernoulli solved the differential equation y = [a 3 /(b2 y − a 3 )]1/2 in 1690 and in the same paper first used the term “integral” in the modern sense. In 1694 Johann Bernoulli was able to solve the equation dy/dx = y/ax. One problem to which both brothers contributed, and which led to much friction between them, was the brachistochrone problem (see
1.4 Historical Remarks
25
Problem 33 of Section 2.3). The brachistochrone problem was also solved by Leibniz and Newton in addition to the Bernoulli brothers. It is said, perhaps apocryphally, that Newton learned of the problem late in the afternoon of a tiring day at the Mint, and solved it that evening after dinner. He published the solution anonymously, but on seeing it, Johann Bernoulli exclaimed, “Ah, I know the lion by his paw.” Daniel Bernoulli (1700–1782), son of Johann, migrated to St. Petersburg as a young man to join the newly established St. Petersburg Academy, but returned to Basel in 1733 as professor of botany, and later, of physics. His interests were primarily in partial differential equations and their applications. For instance, it is his name that is associated with the Bernoulli equation in fluid mechanics. He was also the first to encounter the functions that a century later became known as Bessel functions (Section 5.8). The greatest mathematician of the eighteenth century, Leonhard Euler (1707–1783), grew up near Basel and was a student of Johann Bernoulli. He followed his friend Daniel Bernoulli to St. Petersburg in 1727. For the remainder of his life he was associated with the St. Petersburg Academy (1727–1741 and 1766–1783) and the Berlin Academy (1741–1766). Euler was the most prolific mathematician of all time; his collected works fill more than 70 large volumes. His interests ranged over all areas of mathematics and many fields of application. Even though he was blind during the last 17 years of his life, his work continued undiminished until the very day of his death. Of particular interest here is his formulation of problems in mechanics in mathematical language and his development of methods of solving these mathematical problems. Lagrange said of Euler’s work in mechanics, “The first great work in which analysis is applied to the science of movement.” Among other things, Euler identified the condition for exactness of first order differential equations (Section 2.6) in 1734–35, developed the theory of integrating factors (Section 2.6) in the same paper, and gave the general solution of homogeneous linear equations with constant coefficients (Sections 3.1, 3.4, 3.5, and 4.2) in 1743. He extended the latter results to nonhomogeneous equations in 1750–51. Beginning about 1750, Euler made frequent use of power series (Chapter 5) in solving differential equations. He also proposed a numerical procedure (Sections 2.7 and 8.1) in 1768–69, made important contributions in partial differential equations, and gave the first systematic treatment of the calculus of variations. Joseph-Louis Lagrange (1736–1813) became professor of mathematics in his native Turin at the age of 19. He succeeded Euler in the chair of mathematics at the Berlin Academy in 1766, and moved on to the Paris Academy in 1787. He is most famous for his monumental work Me´canique analytique, published in 1788, an elegant and comprehensive treatise of Newtonian mechanics. With respect to elementary differential equations, Lagrange showed in 1762–65 that the general solution of an nth order linear homogeneous differential equation is a linear combination of n independent solutions (Sections 3.2, 3.3, and 4.1). Later, in 1774–75, he gave a complete development of the method of variation of parameters (Sections 3.7 and 4.4). Lagrange is also known for fundamental work in partial differential equations and the calculus of variations. Pierre-Simon de Laplace (1749–1827) lived in Normandy as a boy but came to Paris in 1768 and quickly made his mark in scientific circles, winning election to the Acade´mie des Sciences in 1773. He was preeminent in the field of celestial mechanics; his greatest work, Traite´ de me´canique ce´leste, was published in five volumes between 1799 and 1825. Laplace’s equation is fundamental in many branches of mathematical physics, and Laplace studied it extensively in connection with gravitational attraction.
26
Chapter 1. Introduction
The Laplace transform (Chapter 6) is also named for him although its usefulness in solving differential equations was not recognized until much later. By the end of the eighteenth century many elementary methods of solving ordinary differential equations had been discovered. In the nineteenth century interest turned more toward the investigation of theoretical questions of existence and uniqueness and to the development of less elementary methods such as those based on power series expansions (see Chapter 5). These methods find their natural setting in the complex plane. Consequently, they benefitted from, and to some extent stimulated, the more or less simultaneous development of the theory of complex analytic functions. Partial differential equations also began to be studied intensively, as their crucial role in mathematical physics became clear. In this connection a number of functions, arising as solutions of certain ordinary differential equations, occurred repeatedly and were studied exhaustively. Known collectively as higher transcendental functions, many of them are associated with the names of mathematicians, including Bessel, Legendre, Hermite, Chebyshev, and Hankel, among others. The numerous differential equations that resisted solution by analytical means led to the investigation of methods of numerical approximation (see Chapter 8). By 1900 fairly effective numerical integration methods had been devised, but their implementation was severely restricted by the need to execute the computations by hand or with very primitive computing equipment. In the last 50 years the development of increasingly powerful and versatile computers has vastly enlarged the range of problems that can be investigated effectively by numerical methods. During the same period extremely refined and robust numerical integrators have been developed and are readily available. Versions appropriate for personal computers have brought the ability to solve a great many significant problems within the reach of individual students. Another characteristic of differential equations in the twentieth century has been the creation of geometrical or topological methods, especially for nonlinear equations. The goal is to understand at least the qualitative behavior of solutions from a geometrical, as well as from an analytical, point of view. If more detailed information is needed, it can usually be obtained by using numerical approximations. An introduction to these geometrical methods appears in Chapter 9. Within the past few years these two trends have come together. Computers, and especially computer graphics, have given a new impetus to the study of systems of nonlinear differential equations. Unexpected phenomena (Section 9.8), referred to by terms such as strange attractors, chaos, and fractals, have been discovered, are being intensively studied, and are leading to important new insights in a variety of applications. Although it is an old subject about which much is known, differential equations at the dawn of the twenty-first century remains a fertile source of fascinating and important unsolved problems. REFERENCES
Computer software for differential equations changes too fast for particulars to be given in a book such as this. A good source of information is the Software Review and Computer Corner sections of The College Mathematics Journal, published by the Mathematical Association of America. There are a number of books that deal with the use of computer algebra systems for differential equations. The following are associated with this book, although they can be used independently as well:
Coombes, K. R., Hunt, B. R., Lipsman, R. L., Osborn, J. E., and Stuck, G. J., Differential Equations with Maple (2nd ed.) and Differential Equations with Mathematica (2nd ed.) (New York: Wiley, 1997) and Differential Equations with MATLAB (New York: Wiley 1999).
1.4 Historical Remarks
27
For further reading in the history of mathematics see books such as those listed below:
Boyer, C. B., and Merzbach, U. C., A History of Mathematics (2nd ed.) (New York: Wiley, 1989). Kline, M., Mathematical Thought from Ancient to Modern Times (New York: Oxford University Press, 1972). A useful historical appendix on the early development of differential equations appears in:
Ince, E. L., Ordinary Differential Equations (London: Longmans, Green, 1927; New York: Dover, 1956). An encyclopedic source of information about the lives and achievements of mathematicians of the past is:
Gillespie, C. C., ed., Dictionary of Scientific Biography (15 vols.) (New York: Scribner’s, 1971).
CHAPTER
2
First Order Differential Equations This chapter deals with differential equations of first order, dy = f (t, y), (1) dt where f is a given function of two variables. Any differentiable function y = φ(t) that satisfies this equation for all t in some interval is called a solution, and our object is to determine whether such functions exist and, if so, to develop methods for finding them. Unfortunately, for an arbitrary function f , there is no general method for solving the equation in terms of elementary functions. Instead, we will describe several methods, each of which is applicable to a certain subclass of first order equations. The most important of these are linear equations (Section 2.1), separable equations (Section 2.2), and exact equations (Section 2.6). Other sections of this chapter describe some of the important applications of first order differential equations, introduce the idea of approximating a solution by numerical computation, and discuss some theoretical questions related to existence and uniqueness of solutions. The final section deals with first order difference equations, which have some important points of similarity with differential equations and are in some respects simpler to investigate.
2.1 Linear Equations with Variable Coefficients ODE
If the function f in Eq. (1) depends linearly on the dependent variable y, then Eq. (1) is called a first order linear equation. In Sections 1.1 and 1.2 we discussed a restricted
29
30
Chapter 2. First Order Differential Equations
type of first order linear equation in which the coefficients are constants. A typical example is dy = −ay + b, (2) dt where a and b are given constants. Recall that an equation of this form describes the motion of an object falling in the atmosphere. Now we want to consider the most general first order linear equation, which is obtained by replacing the coefficients a and b in Eq. (2) by arbitrary functions of t. We will usually write the general first order linear equation in the form dy + p(t)y = g(t), (3) dt where p and g are given functions of the independent variable t. Equation (2) can be solved by the straightforward integration method introduced in Section 1.2. That is, we rewrite the equation as dy/dt = −a. y − (b/a)
(4)
Then, by integration we obtain ln |y − (b/a)| = −at + C, from which it follows that the general solution of Eq. (2) is y = (b/a) + ce−at ,
(5)
where c is an arbitrary constant. For example, if a = 2 and b = 3, then Eq. (2) becomes dy + 2y = 3, dt
(6)
+ ce−2t .
(7)
and its general solution is y=
3 2
Unfortunately, this direct method of solution cannot be used to solve the general equation (3), so we need to use a different method of solution for it. The method is due to Leibniz; it involves multiplying the differential equation (3) by a certain function µ(t), chosen so that the resulting equation is readily integrable. The function µ(t) is called an integrating factor and the main difficulty is to determine how to find it. To make the initial presentation as simple as possible, we will first use this method to solve Eq. (6), later showing how to extend it to other first order linear equations, including the general equation (3).
Solve Eq. (6), EXAMPLE
1
dy + 2y = 3, dt by finding an integrating factor for this equation. The first step is to multiply Eq. (6) by a function µ(t), as yet undetermined; thus µ(t)
dy + 2µ(t)y = 3µ(t). dt
(8)
31
2.1 Linear Equations with Variable Coefficients
The question now is whether we can choose µ(t) so that the left side of Eq. (8) is recognizable as the derivative of some particular expression. If so, then we can integrate Eq. (8), even though we do not know the function y. To guide our choice of the integrating factor µ(t), observe that the left side of Eq. (8) contains two terms and that the first term is part of the result of differentiating the product µ(t)y. Thus, let us try to determine µ(t) so that the left side of Eq. (8) becomes the derivative of the expression µ(t)y. If we compare the left side of Eq. (8) with the differentiation formula dy dµ(t) d [µ(t)y] = µ(t) + y, dt dt dt
(9)
we note that the first terms are identical and that the second terms also agree, provided we choose µ(t) to satisfy dµ(t) = 2µ(t). dt
(10)
Therefore our search for an integrating factor will be successful if we can find a solution of Eq. (10). Perhaps you can readily identify a function that satisfies Eq. (10): What function has a derivative that is equal to two times the original function? More systematically, rewrite Eq. (10) as dµ(t)/dt = 2, µ(t)
(11)
d ln |µ(t)| = 2. dt
(12)
ln |µ(t)| = 2t + C,
(13)
µ(t) = ce2t .
(14)
which is equivalent to
Then it follows that
or
The function µ(t) given by Eq. (14) is the integrating factor for Eq. (6). Since we do not need the most general integrating factor, we will choose c to be one in Eq. (14) and use µ(t) = e2t . Now we return to Eq. (6), multiply it by the integrating factor e2t , and obtain e2t
dy + 2e2t y = 3e2t . dt
(15)
By the choice we have made of the integrating factor, the left side of Eq. (15) is the derivative of e2t y, so that Eq. (15) becomes d 2t (e y) = 3e2t . dt
(16)
By integrating both sides of Eq. (16) we obtain e2t y = 32 e2t + c,
(17)
32
Chapter 2. First Order Differential Equations
where c is an arbitrary constant. Finally, on solving Eq. (17) for y, we have the general solution of Eq. (6), namely, y=
3 2
+ ce−2t .
(18)
Of course, the solution (18) is the same as the solution (7) found earlier. Figure 2.1.1 shows the graph of Eq. (18) for several values of c. The solutions converge to the equilibrium solution y = 3/2, which corresponds to c = 0. y 3
2
1
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
t
FIGURE 2.1.1 Integral curves of y + 2y = 3.
Now that we have shown how the method of integrating factors works in this simple example, let us extend it to other classes of equations. We will do this in three stages. First, consider again Eq. (2), which we now write in the form dy + ay = b. (19) dt The derivation in Example 1 can now be repeated line for line, the only changes being that the coefficients 2 and 3 in Eq. (6) are replaced by a and b, respectively. The integrating factor is µ(t) = eat and the solution is given by Eq. (5), which is the same as Eq. (18) with 2 replaced by a and 3 replaced by b. The next stage is to replace the constant b by a given function g(t), so that the differential equation becomes dy + ay = g(t). (20) dt The integrating factor depends only on the coefficient of y so for Eq. (20) the integrating factor is again µ(t) = eat . Multiplying Eq. (20) by µ(t), we obtain eat
dy + aeat y = eat g(t), dt
or d at (e y) = eat g(t). dt
(21)
33
2.1 Linear Equations with Variable Coefficients
By integrating both sides of Eq. (21) we find that eat y = eas g(s) ds + c,
(22)
where c is an arbitrary constant. Note that we have used s to denote the integration variable to distinguish it from the independent variable t. By solving Eq. (22) for y we obtain the general solution −at (23) eas g(s) ds + ce−at . y=e For many simple functions g(s) the integral in Eq. (23) can be evaluated and the solution y expressed in terms of elementary functions, as in the following examples. However, for more complicated functions g(s), it may be necessary to leave the solution in the integral form given by Eq. (23).
Solve the differential equation EXAMPLE
2
dy + 12 y = 2 + t. dt
(24)
Sketch several solutions and find the particular solution whose graph contains the point (0, 2). In this case a = 1/2, so the integrating factor is µ(t) = et/2 . Multiplying Eq. (24) by this factor leads to the equation d t/2 (e y) = 2et/2 + tet/2 . dt
(25)
By integrating both sides of Eq. (25), using integration by parts on the second term on the right side, we obtain et/2 y = 4et/2 + 2tet/2 − 4et/2 + c, where c is an arbitrary constant. Thus y = 2t + ce−t/2 .
(26)
To find the solution that passes through the initial point (0, 2), we set t = 0 and y = 2 in Eq. (26), with the result that 2 = 0 + c, so that c = 2. Hence the desired solution is y = 2t + 2e−t/2 .
(27)
Graphs of the solution (26) for several values of c are shown in Figure 2.1.2. Observe that the solutions converge, not to a constant solution as in Example 1 and in the examples in Chapter 1, but to the solution y = 2t, which corresponds to c = 0.
34
Chapter 2. First Order Differential Equations y 10 8 6 4 2 2
1
3
4
5
t
–2
FIGURE 2.1.2 Integral curves of y + 12 y = 2 + t.
Solve the differential equation EXAMPLE
3
dy − 2y = 4 − t dt
(28)
and sketch the graphs of several solutions. Find the initial point on the y-axis that separates solutions that grow large positively from those that grow large negatively as t → ∞. Since the coefficient of y is −2, the integrating factor for Eq. (28) is µ(t) = e−2t . Multiplying the differential equation by µ(t), we obtain d −2t (e y) = 4e−2t − te−2t . dt
(29)
Then, by integrating both sides of this equation, we have e−2t y = −2e−2t + 12 te−2t + 14 e−2t + c, where we have used integration by parts on the last term in Eq. (29). Thus the general solution of Eq. (28) is y = − 74 + 12 t + ce2t .
(30)
Graphs of the solution (30) for several values of c are shown in Figure 2.1.3. The behavior of the solution for large values of t is determined by the term ce2t . If c = 0, then the solution grows exponentially large in magnitude, with the same sign as c itself. Thus the solutions diverge as t becomes large. The boundary between solutions that ultimately grow positively from those that ultimately grow negatively occurs when c = 0. If we substitute c = 0 into Eq. (30) and then set t = 0, we find that y = −7/4. This is the separation point on the y-axis that was requested. Note that, for this initial value, the solution is y = − 74 + 12 t; it grows positively (but not exponentially).
35
2.1 Linear Equations with Variable Coefficients y 0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
t
–1
–2
–3
–4
FIGURE 2.1.3 Integral curves of y − 2y = 4 − t.
Examples 2 and 3 are special cases of Eq. (20), dy + ay = g(t), dt whose solutions are given by Eq. (23), y = e−at eas g(s) ds + ce−at . The solutions converge if a > 0, as in Example 2, and diverge if a < 0, as in Example 3. In contrast to the equations considered in Sections 1.1 and 1.2, however, Eq. (20) does not have an equilibrium solution. The final stage in extending the method of integrating factors is to the general first order linear equation (3), dy + p(t)y = g(t), dt where p and g are given functions. If we multiply Eq. (3) by an as yet undetermined function µ(t), we obtain dy + p(t)µ(t)y = µ(t)g(t). (31) dt Following the same line of development as in Example 1, we see that the left side of Eq. (31) is the derivative of the product µ(t)y, provided that µ(t) satisfies the equation µ(t)
dµ(t) = p(t)µ(t). dt If we assume temporarily that µ(t) is positive, then we have dµ(t)/dt = p(t), µ(t)
(32)
36
Chapter 2. First Order Differential Equations
and consequently
ln µ(t) =
p(t) dt + k.
By choosing the arbitrary constant k to be zero, we obtain the simplest possible function for µ, namely, µ(t) = exp p(t) dt. (33) Note that µ(t) is positive for all t, as we assumed. Returning to Eq. (31), we have d [µ(t)y] = µ(t)g(t). dt Hence
(34)
µ(t)y =
so the general solution of Eq. (3) is y=
µ(s)g(s) ds + c,
µ(s)g(s) ds + c . µ(t)
(35)
Observe that, to find the solution given by Eq. (35), two integrations are required: one to obtain µ(t) from Eq. (33) and the other to obtain y from Eq. (35).
Solve the initial value problem EXAMPLE
t y + 2y = 4t 2 , y(1) = 2.
4
(36) (37)
Rewriting Eq. (36) in the standard form (3), we have y + (2/t)y = 4t,
(38)
so p(t) = 2/t and g(t) = 4t. To solve Eq. (38) we first compute the integrating factor µ(t): 2 dt = e2 ln |t| = t 2 . µ(t) = exp (39) t On multiplying Eq. (38) by µ(t) = t 2 , we obtain t 2 y + 2t y = (t 2 y) = 4t 3 , and therefore t 2 y = t 4 + c, where c is an arbitrary constant. It follows that y = t2 +
c t2
(40)
37
2.1 Linear Equations with Variable Coefficients
is the general solution of Eq. (36). Integral curves of Eq. (36) for several values of c are shown in Figure 2.1.4. To satisfy the initial condition (37) it is necessary to choose c = 1; thus 1 t >0 (41) y = t2 + 2 , t is the solution of the initial value problem (36), (37). This solution is shown by the heavy curve in Figure 2.1.4. Note that it becomes unbounded and is asymptotic to the positive y-axis as t → 0 from the right. This is the effect of the infinite discontinuity in the coefficient p(t) at the origin. The function y = t 2 + (1/t 2 ) for t < 0 is not part of the solution of this initial value problem. This is the first example in which the solution fails to exist for some values of t. Again, this is due to the infinite discontinuity in p(t) at t = 0, which restricts the solution to the interval 0 < t < ∞. y 3 2
(1, 2)
1
–1
1
t
–1
FIGURE 2.1.4 Integral curves of t y + 2y = 4t 2 .
Looking again at Figure 2.1.4, we see that some solutions (those for which c > 0) are asymptotic to the positive y-axis as t → 0 from the right, while other solutions (for which c < 0) are asymptotic to the negative y-axis. The solution for which c = 0, namely, y = t 2 , remains bounded and differentiable even at t = 0. If we generalize the initial condition (37) to y(1) = y0 ,
(42)
then c = y0 − 1 and the solution (41) becomes y = t2 +
y0 − 1
, t > 0. (43) t2 As in Example 3, this is another instance where there is a critical initial value, namely, y0 = 1, that separates solutions that behave in two quite different ways.
38
Chapter 2. First Order Differential Equations
PROBLEMS
䉴 䉴 䉴 䉴 䉴 䉴
In each of Problems 1 through 12: (a) Draw a direction field for the given differential equation. (b) Based on an inspection of the direction field, describe how solutions behave for large t. (c) Find the general solution of the given differential equation and use it to determine how solutions behave as t → ∞. 1. y + 3y = t + e−2t 䉴 2. y − 2y = t 2 e2t −t 3. y + y = te + 1 t >0 䉴 4. y + (1/t)y = 3 cos 2t, t 5. y − 2y = 3e t >0 䉴 6. t y + 2y = sin t, 2 7. y + 2t y = 2te−t 䉴 8. (1 + t 2 )y + 4t y = (1 + t 2 )−2 9. 2y + y = 3t 䉴 10. t y − y = t 2 e−t 11. y + y = 5 sin 2t 䉴 12. 2y + y = 3t 2 In each of Problems 13 through 20 find the solution of the given initial value problem. y(0) = 1 13. y − y = 2te2t , 14. y + 2y = te−2t , y(1) = 0 y(1) = 12 , t >0 15. t y + 2y = t 2 − t + 1, 2 y(π ) = 0, t >0 16. y + (2/t)y = (cos t)/t 17. y − 2y = e2t , y(0) = 2 18. t y + 2y = sin t, y(π/2) = 1 y(−1) = 0 20. t y + (t + 1)y = t, y(ln 2) = 1 19. t 3 y + 4t 2 y = e−t , In each of Problems 21 and 22: (a) Draw a direction field for the given differential equation. How do solutions appear to behave as t becomes large? Does the behavior depend on the choice of the initial value a? Let a0 be the value of a for which the transition from one type of behavior to another occurs. Estimate the value of a0 . (b) Solve the initial value problem and find the critical value a0 exactly. (c) Describe the behavior of the solution corresponding to the initial value a0 .
䉴 21. y − 12 y = 2 cos t,
y(0) = a
䉴 22. 2y − y = et/3 ,
y(0) = a
In each of Problems 23 and 24: (a) Draw a direction field for the given differential equation. How do solutions appear to behave as t → 0? Does the behavior depend on the choice of the initial value a? Let a0 be the value of a for which the transition from one type of behavior to another occurs. Estimate the value of a0 . (b) Solve the initial value problem and find the critical value a0 exactly. (c) Describe the behavior of the solution corresponding to the initial value a0 .
䉴 23. t y + (t + 1)y = 2te−t , y(1) = a 䉴 25. Consider the initial value problem
䉴 24. t y + 2y = (sin t)/t,
y + 12 y = 2 cos t,
y(−π/2) = a
y(0) = −1.
Find the coordinates of the first local maximum point of the solution for t > 0. 䉴 26. Consider the initial value problem y + 23 y = 1 − 12 t,
y(0) = y0 .
Find the value of y0 for which the solution touches, but does not cross, the t-axis. 䉴 27. Consider the initial value problem y + 14 y = 3 + 2 cos 2t,
y(0) = 0.
(a) Find the solution of this initial value problem and describe its behavior for large t. (b) Determine the value of t for which the solution first intersects the line y = 12.
39
2.1 Linear Equations with Variable Coefficients
28. Find the value of y0 for which the solution of the initial value problem y − y = 1 + 3 sin t,
y(0) = y0
remains finite as t → ∞. 29. Consider the initial value problem y − 32 y = 3t + 2et ,
y(0) = y0 .
Find the value of y0 that separates solutions that grow positively as t → ∞ from those that grow negatively. How does the solution that corresponds to this critical value of y0 behave as t → ∞? 30. Show that if a and λ are positive constants, and b is any real number, then every solution of the equation y + ay = be−λt has the property that y → 0 as t → ∞. Hint: Consider the cases a = λ and a = λ separately. In each of Problems 31 through 34 construct a first order linear differential equation whose solutions have the required behavior as t → ∞. Then solve your equation and confirm that the solutions do indeed have the specified property. 31. All solutions have the limit 3 as t → ∞. 32. All solutions are asymptotic to the line y = 3 − t as t → ∞. 33. All solutions are asymptotic to the line y = 2t − 5 as t → ∞. 34. All solutions approach the curve y = 4 − t 2 as t → ∞. 35. Variation of Parameters. Consider the following method of solving the general linear equation of first order: y + p(t)y = g(t).
(i)
(a) If g(t) is identically zero, show that the solution is y = A exp − p(t) dt ,
(ii)
where A is a constant. (b) If g(t) is not identically zero, assume that the solution is of the form y = A(t) exp − p(t) dt ,
(iii)
where A is now a function of t. By substituting for y in the given differential equation, show that A(t) must satisfy the condition p(t) dt . (iv) A (t) = g(t) exp (c) Find A(t) from Eq. (iv). Then substitute for A(t) in Eq. (iii) and determine y. Verify that the solution obtained in this manner agrees with that of Eq. (35) in the text. This technique is known as the method of variation of parameters; it is discussed in detail in Section 3.7 in connection with second order linear equations. In each of Problems 36 and 37 use the method of Problem 35 to solve the given differential equation. 36. y − 2y = t 2 e2t
37. y + (1/t)y = 3 cos 2t,
t >0
40
Chapter 2. First Order Differential Equations
2.2 Separable Equations ODE
ODE
ODE
In Sections 1.2 and 2.1 we used a process of direct integration to solve first order linear equations of the form dy = ay + b, (1) dt where a and b are constants. We will now show that this process is actually applicable to a much larger class of equations. We will use x to denote the independent variable in this section rather than t for two reasons. In the first place, different letters are frequently used for the variables in a differential equation, and you should not become too accustomed to using a single pair. In particular, x often occurs as the independent variable. Further, we want to reserve t for another purpose later in the section. The general first order equation is dy = f (x, y). (2) dx Linear equations were considered in the preceding section, but if Eq. (2) is nonlinear, then there is no universally applicable method for solving the equation. Here, we consider a subclass of first order equations for which a direct integration process can be used. To identify this class of equations we first rewrite Eq. (2) in the form dy = 0. (3) dx It is always possible to do this by setting M(x, y) = − f (x, y) and N (x, y) = 1, but there may be other ways as well. In the event that M is a function of x only and N is a function of y only, then Eq. (3) becomes M(x, y) + N (x, y)
dy = 0. (4) dx Such an equation is said to be separable, because if it is written in the differential form M(x) + N (y)
M (x ) dx + N (y ) dy = 0,
(5)
then, if you wish, terms involving each variable may be separated by the equals sign. The differential form (5) is also more symmetric and tends to diminish the distinction between independent and dependent variables.
Show that the equation EXAMPLE
1
x2 dy = dx 1 − y2
(6)
is separable, and then find an equation for its integral curves. If we write Eq. (6) as −x 2 + (1 − y 2 )
dy = 0, dx
(7)
41
2.2 Separable Equations
then it has the form (4) and is therefore separable. Next, observe that the first term in Eq. (7) is the derivative of −x 3 /3 and that the second term, by means of the chain rule, is the derivative with respect to x of y − y 3 /3. Thus Eq. (7) can be written as d x3 d y3 − + y− = 0, dx 3 dx 3 or d dx
y3 x3 − +y− 3 3
= 0.
Therefore −x 3 + 3y − y 3 = c,
(8)
where c is an arbitrary constant, is an equation for the integral curves of Eq. (6). A direction field and several integral curves are shown in Figure 2.2.1. An equation of the integral curve passing through a particular point (x0 , y0 ) can be found by substituting x0 and y0 for x and y, respectively, in Eq. (8) and determining the corresponding value of c. Any differentiable function y = φ(x) that satisfies Eq. (8) is a solution of Eq. (6). y 4
2
–4
–2
2
4 x
–2
–4
FIGURE 2.2.1 Direction field and integral curves of y = x 2 /(1 − y 2 ).
Essentially the same procedure can be followed for any separable equation. Returning to Eq. (4), let H1 and H2 be any functions such that H1 (x) = M(x),
H2 (y) = N (y);
(9)
42
Chapter 2. First Order Differential Equations
then Eq. (4) becomes dy = 0. dx
(10)
dy d = H (y). dx dx 2
(11)
H1 (x) + H2 (y) According to the chain rule, H2 (y) Consequently, Eq. (10) becomes
d [H (x) + H2 (y)] = 0. dx 1 By integrating Eq. (12) we obtain
(12)
H1 (x) + H2 (y) = c,
(13)
where c is an arbitrary constant. Any differentiable function y = φ(x) that satisfies Eq. (13) is a solution of Eq. (4); in other words, Eq. (13) defines the solution implicitly rather than explicitly. The functions H1 and H2 are any antiderivatives of M and N , respectively. In practice, Eq. (13) is usually obtained from Eq. (5) by integrating the first term with respect to x and the second term with respect to y. If, in addition to the differential equation, an initial condition y(x0 ) = y0
(14)
is prescribed, then the solution of Eq. (4) satisfying this condition is obtained by setting x = x0 and y = y0 in Eq. (13). This gives c = H1 (x0 ) + H2 (y0 ). Substituting this value of c in Eq. (13) and noting that x M(s) ds, H2 (y) − H2 (y0 ) = H1 (x) − H1 (x0 ) = x0
we obtain
x
M(s) ds +
x0
y
N (s) ds = 0.
(15) y
N (s) ds,
y0
(16)
y0
Equation (16) is an implicit representation of the solution of the differential equation (4) that also satisfies the initial condition (14). You should bear in mind that the determination of an explicit formula for the solution requires that Eq. (16) be solved for y as a function of x. Unfortunately, it is often impossible to do this analytically; in such cases one can resort to numerical methods to find approximate values of y for given values of x.
Solve the initial value problem EXAMPLE
2
3x 2 + 4x + 2 dy = , dx 2(y − 1)
y(0) = −1,
and determine the interval in which the solution exists.
(17)
43
2.2 Separable Equations
The differential equation can be written as 2(y − 1) dy = (3x 2 + 4x + 2) dx. Integrating the left side with respect to y and the right side with respect to x gives y 2 − 2y = x 3 + 2x 2 + 2x + c,
(18)
where c is an arbitrary constant. To determine the solution satisfying the prescribed initial condition, we substitute x = 0 and y = −1 in Eq. (18), obtaining c = 3. Hence the solution of the initial value problem is given implicitly by y 2 − 2y = x 3 + 2x 2 + 2x + 3.
(19)
To obtain the solution explicitly we must solve Eq. (19) for y in terms of x. This is a simple matter in this case, since Eq. (19) is quadratic in y, and we obtain (20) y = 1 ± x 3 + 2x 2 + 2x + 4. Equation (20) gives two solutions of the differential equation, only one of which, however, satisfies the given initial condition. This is the solution corresponding to the minus sign in Eq. (20), so that we finally obtain (21) y = φ(x) = 1 − x 3 + 2x 2 + 2x + 4 as the solution of the initial value problem (17). Note that if the plus sign is chosen by mistake in Eq. (20), then we obtain the solution of the same differential equation that satisfies the initial condition y(0) = 3. Finally, to determine the interval in which the solution (21) is valid, we must find the interval in which the quantity under the radical is positive. The only real zero of this expression is x = −2, so the desired interval is x > −2. The solution of the initial value problem and some other integral curves of the differential equation are shown in Figure 2.2.2. Observe that the boundary of the interval of validity of the solution (20) is determined by the point (−2, 1) at which the tangent line is vertical. y 3
2
1
(–2, 1)
–2
–1
1
2
(0, –1) –1 –2
FIGURE 2.2.2 Integral curves of y = (3x 2 + 4x + 2)/2(y − 1).
x
44
Chapter 2. First Order Differential Equations
Find the solution of the initial value problem EXAMPLE
dy y cos x = , dx 1 + 2y 2
3
y(0) = 1.
(22)
Observe that y = 0 is a solution of the given differential equation. To find other solutions, assume that y = 0 and write the differential equation in the form 1 + 2y 2 dy = cos x dx. y
(23)
Then, integrating the left side with respect to y and the right side with respect to x, we obtain ln |y| + y 2 = sin x + c.
(24)
To satisfy the initial condition we substitute x = 0 and y = 1 in Eq. (24); this gives c = 1. Hence the solution of the initial value problem (22) is given implicitly by ln |y| + y 2 = sin x + 1.
(25)
Since Eq. (25) is not readily solved for y as a function of x, further analysis of this problem becomes more delicate. One fairly evident fact is that no solution crosses the x-axis. To see this, observe that the left side of Eq. (25) becomes infinite if y = 0; however, the right side never becomes unbounded, so no point on the x-axis satisfies Eq. (25). Thus, for the solution of Eqs. (22) it follows that y > 0 always. Consequently, the absolute value bars in Eq. (25) can be dropped. It can also be shown that the interval of definition of the solution of the initial value problem (22) is the entire x-axis. Some integral curves of the given differential equation, including the solution of the initial value problem (22), are shown in Figure 2.2.3. y
2
1 (0, 1)
–3
–2
–1
1
2
3
x
–1
FIGURE 2.2.3 Integral curves of y = (y cos x)/(1 + 2y 2 ).
The investigation of a first order nonlinear equation can sometimes be facilitated by regarding both x and y as functions of a third variable t. Then dy/dt dy = . dx dx/dt
(26)
45
2.2 Separable Equations
If the differential equation is dy F(x, y) = , dx G(x, y)
(27)
then, by comparing numerators and denominators in Eqs. (26) and (27), we obtain the system dx/dt = G(x, y),
dy/dt = F(x, y).
(28)
At first sight it may seem unlikely that a problem will be simplified by replacing a single equation by a pair of equations, but, in fact, the system (28) may well be more amenable to investigation than the single equation (27). Chapter 9 is devoted to nonlinear systems of the form (28). Note: In Example 2 it was not difficult to solve explicitly for y as a function of x and to determine the exact interval in which the solution exists. However, this situation is exceptional, and often it will be better to leave the solution in implicit form, as in Examples 1 and 3. Thus, in the problems below and in other sections where nonlinear equations appear, the terminology “solve the following differential equation” means to find the solution explicitly if it is convenient to do so, but otherwise to find an implicit formula for the solution.
PROBLEMS
In each of Problems 1 through 8 solve the given differential equation. 2. y = x 2 /y(1 + x 3 ) 1. y = x 2 /y 2 3. y + y sin x = 0 4. y = (3x 2 − 1)/(3 + 2y) 2 2 5. y = (cos x)(cos 2y) 6. x y = (1 − y 2 )1/2 −x dy dy x −e x2 7. 8. = = y dx y+e dx 1 + y2
䉴 䉴 䉴 䉴 䉴 䉴 䉴 䉴
In each of Problems 9 through 20: (a) Find the solution of the given initial value problem in explicit form. (b) Plot the graph of the solution. (c) Determine (at least approximately) the interval in which the solution is defined. 9. y = (1 − 2x)y 2 , y(0) = −1/6 y(1) = −2 䉴 10. y = (1 − 2x)/y, −x 2 11. x d x + ye dy = 0, y(0) = 1 r (1) = 2 䉴 12. dr/dθ = r /θ, 13. y = 2x/(y + x 2 y), y(0) = −2 䉴 14. y = x y 3 (1 + x 2 )−1/2 , y(0) = 1 √ 2 3 15. y = 2x/(1 + 2y), y(2) = 0 y(0) = −1/ 2 䉴 16. y = x(x + 1)/4y , 17. y = (3x 2 − e x )/(2y − 5), y(0) = 1 −x x 18. y = (e − e )/(3 + 4y), y(0) = 1 19. sin 2x d x + cos 3y dy = 0, y(π/2) = π/3 2 2 1/2 20. y (1 − x ) dy = arcsin x d x, y(0) = 0 Some of the results requested in Problems 21 through 28 can be obtained either by solving the given equations analytically, or by plotting numerically generated approximations to the solutions. Try to form an opinion as to the advantages and disadvantages of each approach.
䉴 21. Solve the initial value problem y = (1 + 3x 2 )/(3y 2 − 6y),
y(0) = 1
and determine the interval in which the solution is valid. Hint: To find the interval of definition, look for points where the integral curve has a vertical tangent.
46
Chapter 2. First Order Differential Equations
䉴 22. Solve the initial value problem y = 3x 2 /(3y 2 − 4),
y(1) = 0
and determine the interval in which the solution is valid. Hint: To find the interval of definition, look for points where the integral curve has a vertical tangent. 䉴 23. Solve the initial value problem y = 2y 2 + x y 2 ,
y(0) = 1
and determine where the solution attains its minimum value. 䉴 24. Solve the initial value problem y = (2 − e x )/(3 + 2y),
y(0) = 0
and determine where the solution attains its maximum value. 䉴 25. Solve the initial value problem y = 2 cos 2x/(3 + 2y),
y(0) = −1
and determine where the solution attains its maximum value. 䉴 26. Solve the initial value problem y = 2(1 + x)(1 + y 2 ),
y(0) = 0
and determine where the solution attains its minimum value. 䉴 27. Consider the initial value problem y = t y(4 − y)/3,
y(0) = y0 .
(a) Determine how the behavior of the solution as t increases depends on the initial value y0 . (b) Suppose that y0 = 0.5. Find the time T at which the solution first reaches the value 3.98. 䉴 28. Consider the initial value problem y = t y(4 − y)/(1 + t),
y(0) = y0 > 0.
(a) Determine how the solution behaves as t → ∞. (b) If y0 = 2, find the time T at which the solution first reaches the value 3.99. (c) Find the range of initial values for which the solution lies in the interval 3.99 < y < 4.01 by the time t = 2. 29. Solve the equation ay + b dy = , dx cy + d where a, b, c, and d are constants. Homogeneous Equations. If the right side of the equation dy/d x = f (x, y) can be expressed as a function of the ratio y/x only, then the equation is said to be homogeneous. Such equations can always be transformed into separable equations by a change of the dependent variable. Problem 30 illustrates how to solve first order homogeneous equations.
䉴 30. Consider the equation y − 4x dy = . dx x−y
(i)
47
2.3 Modeling with First Order Equations
(a) Show that Eq. (i) can be rewritten as (y/x) − 4 dy = ; dx 1 − (y/x)
(ii)
thus Eq. (i) is homogeneous. (b) Introduce a new dependent variable v so that v = y/x, or y = xv(x). Express dy/d x in terms of x, v, and dv/d x. (c) Replace y and dy/d x in Eq. (ii) by the expressions from part (b) that involve v and dv/d x. Show that the resulting differential equation is v+x
dv v−4 = , dx 1−v
or x
dv v2 − 4 = . dx 1−v
(iii)
Observe that Eq. (iii) is separable. (d) Solve Eq. (iii) for v in terms of x. (e) Find the solution of Eq. (i) by replacing v by y/x in the solution in part (d). (f) Draw a direction field and some integral curves for Eq. (i). Recall that the right side of Eq. (1) actually depends only on the ratio y/x. This means that integral curves have the same slope at all points on any given straight line through the origin, although the slope changes from one line to another. Therefore the direction field and the integral curves are symmetric with respect to the origin. Is this symmetry property evident from your plot? The method outlined in Problem 30 can be used for any homogeneous equation. That is, the substitution y = xv(x) transforms a homogeneous equation into a separable equation. The latter equation can be solved by direct integration, and then replacing v by y/x gives the solution to the original equation. In each of Problems 31 through 38: (a) Show that the given equation is homogeneous. (b) Solve the differential equation. (c) Draw a direction field and some integral curves. Are they symmetric with respect to the origin? dy dx dy 䉴 33. dx dy 䉴 35. dx dy 䉴 37. dx
䉴 31.
x 2 + x y + y2 x2 4y − 3x = 2x − y x + 3y = x−y x 2 − 3y 2 = 2x y =
dy x 2 + 3y 2 = dx 2x y dy 4x + 3y =− 䉴 34. dx 2x + y
䉴 32.
䉴 36. (x 2 + 3x y + y 2 ) d x − x 2 dy = 0 䉴 38.
dy 3y 2 − x 2 = dx 2x y
2.3 Modeling with First Order Equations ODE
ODE
Differential equations are of interest to nonmathematicians primarily because of the possibility of using them to investigate a wide variety of problems in the physical, biological, and social sciences. One reason for this is that mathematical models and
ODE
48
Chapter 2. First Order Differential Equations
their solutions lead to equations relating the variables and parameters in the problem. These equations often enable you to make predictions about how the natural process will behave in various circumstances. It is often easy to vary parameters in the mathematical model over wide ranges, whereas this may be very time-consuming or expensive in an experimental setting. Nevertheless, mathematical modeling and experiment or observation are both critically important and have somewhat complementary roles in scientific investigations. Mathematical models s are validated by comparison of their predictions with experimental results. On the other hand, mathematical analyses may suggest the most promising directions to explore experimentally, and may indicate fairly precisely what experimental data will be most helpful. In Sections 1.1 and 1.2 we formulated and investigated a few simple mathematical models. We begin by recapitulating and expanding on some of the conclusions reached in those sections. Regardless of the specific field of application, there are three identifiable steps that are always present in the process of mathematical modeling. Construction of the Model. This involves a translation of the physical situation into mathematical terms, often using the steps listed at the end of Section 1.1. Perhaps most critical at this stage is to state clearly the physical principle(s) that are believed to govern the process. For example, it has been observed that in some circumstances heat passes from a warmer to a cooler body at a rate proportional to the temperature difference, that objects move about in accordance with Newton’s laws of motion, and that isolated insect populations grow at a rate proportional to the current population. Each of these statements involves a rate of change (derivative) and consequently, when expressed mathematically, leads to a differential equation. The differential equation is a mathematical model of the process. It is important to realize that the mathematical equations are almost always only an approximate description of the actual process. For example, bodies moving at speeds comparable to the speed of light are not governed by Newton’s laws, insect populations do not grow indefinitely as stated because of eventual limitations on their food supply, and heat transfer is affected by factors other than the temperature difference. Alternatively, one can adopt the point of view that the mathematical equations exactly describe the operation of a simplified physical model, which has been constructed (or conceived of) so as to embody the most important features of the actual process. Sometimes, the process of mathematical modeling involves the conceptual replacement of a discrete process by a continuous one. For instance, the number of members in an insect population changes by discrete amounts; however, if the population is large, it seems reasonable to consider it as a continuous variable and even to speak of its derivative. Analysis of the Model. Once the problem has been formulated mathematically, one is often faced with the problem of solving one or more differential equations or, failing that, of finding out as much as possible about the properties of the solution. It may happen that this mathematical problem is quite difficult and, if so, further approximations may be indicated at this stage to make the problem mathematically tractable. For example, a nonlinear equation may be approximated by a linear one, or a slowly varying coefficient may be replaced by a constant. Naturally, any such approximations must also be examined from the physical point of view to make sure that the simplified mathematical problem still reflects the essential features of the physical process under investigation. At the same time, an intimate knowledge of the physics of the problem may suggest reasonable mathematical approximations
49
2.3 Modeling with First Order Equations
that will make the mathematical problem more amenable to analysis. This interplay of understanding of physical phenomena and knowledge of mathematical techniques and their limitations is characteristic of applied mathematics at its best, and is indispensable in successfully constructing useful mathematical models of intricate physical processes. Comparison with Experiment or Observation. Finally, having obtained the solution (or at least some information about it), you must interpret this information in the context in which the problem arose. In particular, you should always check that the mathematical solution appears physically reasonable. If possible, calculate the values of the solution at selected points and compare them with experimentally observed values. Or, ask whether the behavior of the solution after a long time is consistent with observations. Or, examine the solutions corresponding to certain special values of parameters in the problem. Of course, the fact that the mathematical solution appears to be reasonable does not guarantee it is correct. However, if the predictions of the mathematical model are seriously inconsistent with observations of the physical system it purports to describe, this suggests that either errors have been made in solving the mathematical problem, or the mathematical model itself needs refinement, or observations must be made with greater care. The examples in this section are typical of applications in which first order differential equations arise.
EXAMPLE
1 Mixing
At time t = 0 a tank contains Q 0 lb of salt dissolved in 100 gal of water; see Figure 2.3.1. Assume that water containing 14 lb of salt/gal is entering the tank at a rate of r gal/min, and that the well-stirred mixture is draining from the tank at the same rate. Set up the initial value problem that describes this flow process. Find the amount of salt Q(t) in the tank at any time, and also find the limiting amount Q L that is present after a very long time. If r = 3 and Q 0 = 2Q L , find the time T after which the salt level is within 2% of Q L . Also find the flow rate that is required if the value of T is not to exceed 45 min. 1
r gal/min, 4 lb/gal
r gal/min
FIGURE 2.3.1 The water tank in Example 1.
50
Chapter 2. First Order Differential Equations
We assume that salt is neither created nor destroyed in the tank. Therefore variations in the amount of salt are due solely to the flows in and out of the tank. More precisely, the rate of change of salt in the tank, d Q/dt, is equal to the rate at which salt is flowing in minus the rate at which it is flowing out. In symbols, dQ = rate in − rate out. dt
(1)
The rate at which salt enters the tank is the concentration 14 lb/gal times the flow rate r gal/min, or (r/4) lb/min. To find the rate at which salt leaves the tank we need to multiply the concentration of salt in the tank by the rate of outflow, r gal/min. Since the rates of flow in and out are equal, the volume of water in the tank remains constant at 100 gal, and since the mixture is “well-stirred,” the concentration throughout the tank is the same, namely, [Q(t)/100] lb/gal. Therefore the rate at which salt leaves the tank is [r Q(t)/100] lb/min. Thus the differential equation governing this process is r rQ dQ = − . dt 4 100
(2)
Q(0) = Q 0 .
(3)
The initial condition is
Upon thinking about the problem physically, we might anticipate that eventually the mixture originally in the tank will be essentially replaced by the mixture flowing in, whose concentration is 14 lb/gal. Consequently, we might expect that ultimately the amount of salt in the tank would be very close to 25 lb. We can reach the same conclusion from a geometrical point of view by drawing a direction field for Eq. (2) for any positive value of r . To solve the problem analytically note that Eq. (2) is both linear and separable. Rewriting it in the usual form for a linear equation, we have rQ r dQ + = . dt 100 4
(4)
Thus the integrating factor is er t/100 and the general solution is Q(t) = 25 + ce−r t/100 ,
(5)
where c is an arbitrary constant. To satisfy the initial condition (3) we must choose c = Q 0 − 25. Therefore the solution of the initial value problem (2), (3) is Q(t) = 25 + (Q 0 − 25)e−r t/100
(6)
Q(t) = 25(1 − e−r t/100 ) + Q 0 e−r t/100 .
(7)
or
From Eq. (6) or (7), you can see that Q(t) → 25 (lb) as t → ∞, so the limiting value Q L is 25, confirming our physical intuition. In interpreting the solution (7), note that the second term on the right side is the portion of the original salt that remains at time t, while the first term gives the amount of salt in the tank due to the action of the flow processes. Plots of the solution for r = 3 and for several values of Q 0 are shown in Figure 2.3.2.
51
2.3 Modeling with First Order Equations Q 50
40
30
20
10
20
40
60
80
100
t
FIGURE 2.3.2 Solutions of the initial value problem (2), (3) for r = 3 and several values of Q 0 .
Now suppose that r = 3 and Q 0 = 2Q L = 50; then Eq. (6) becomes Q(t) = 25 + 25e−0.03t .
(8)
Since 2% of 25 is 0.5, we wish to find the time T at which Q(t) has the value 25.5. Substituting t = T and Q = 25.5 in Eq. (8) and solving for T , we obtain T = (ln 50)/0.03 ∼ (9) = 130.4 (min). To determine r so that T = 45, return to Eq. (6), set t = 45, Q 0 = 50, Q(t) = 25.5, and solve for r . The result is r = (100/45) ln 50 ∼ (10) = 8.69 gal/min. Since this example is hypothetical, the validity of the model is not in question. If the flow rates are as stated, and if the concentration of salt in the tank is uniform, then the differential equation (1) is an accurate description of the flow process. While this particular example has no special significance, it is important that models of this kind are often used in problems involving a pollutant in a lake, or a drug in an organ of the body, for example, rather than a tank of salt water. In such cases the flow rates may not be easy to determine, or may vary with time. Similarly, the concentration may be far from uniform in some cases. Finally, the rates of inflow and outflow may be different, which means that the variation of the amount of liquid in the problem must also be taken into account.
EXAMPLE
2 Compound Interest
Suppose that a sum of money is deposited in a bank or money fund that pays interest at an annual rate r . The value S(t) of the investment at any time t depends on the frequency with which interest is compounded as well as the interest rate. Financial institutions have various policies concerning compounding: some compound monthly, some weekly, some even daily. If we assume that compounding takes place continuously, then we can set up a simple initial value problem that describes the growth of the investment.
52
Chapter 2. First Order Differential Equations
The rate of change of the value of the investment is d S/dt, and this quantity is equal to the rate at which interest accrues, which is the interest rate r times the current value of the investment S(t). Thus d S/dt = r S
(11)
is the differential equation that governs the process. Suppose that we also know the value of the investment at some particular time, say, S(0) = S0 .
(12)
Then the solution of the initial value problem (11), (12) gives the balance S(t) in the account at any time t. This initial value problem is readily solved, since the differential equation (11) is both linear and separable. Consequently, by solving Eqs. (11) and (12), we find that S(t) = S0 er t .
(13)
Thus a bank account with continuously compounding interest grows exponentially. Let us now compare the results from this continuous model with the situation in which compounding occurs at finite time intervals. If interest is compounded once a year, then after t years S(t) = S0 (1 + r )t . If interest is compounded twice a year, then at the end of 6 months the value of the investment is S0 [1 + (r/2)], and at the end of 1 year it is S0 [1 + (r/2)]2 . Thus, after t years we have r 2t . S(t) = S0 1 + 2 In general, if interest is compounded m times per year, then r mt . (14) S(t) = S0 1 + m The relation between formulas (13) and (14) is clarified if we recall from calculus that r mt lim S0 1 + = S0 er t . m→∞ m The same model applies equally well to more general investments in which dividends and perhaps capital gains can also accumulate, as well as interest. In recognition of this fact, we will from now on refer to r as the rate of return. Table 2.3.1 shows the effect of changing the frequency of compounding for a return rate r of 8%. The second and third columns are calculated from Eq. (14) for quarterly and daily compounding, respectively, and the fourth column is calculated from Eq. (13) for continuous compounding. The results show that the frequency of compounding is not particularly important in most cases. For example, during a 10-year period the difference between quarterly and continuous compounding is $17.50 per $1000 invested, or less than $2/year. The difference would be somewhat greater for higher rates of return and less for lower rates. From the first row in the table, we see that for the return rate r = 8%, the annual yield for quarterly compounding is 8.24% and for daily or continuous compounding it is 8.33%.
53
2.3 Modeling with First Order Equations
TABLE 2.3.1 Growth of Capital at a Return Rate r = 8% for Several Modes of Compounding S(t)/S(t0 ) from Eq. (14) Years
m=4
m = 365
S(t)/S(t0 ) from Eq. (13)
1 2 5 10 20 30 40
1.0824 1.1717 1.4859 2.2080 4.8754 10.7652 23.7699
1.0833 1.1735 1.4918 2.2253 4.9522 11.0203 24.5239
1.0833 1.1735 1.4918 2.2255 4.9530 11.0232 24.5325
Returning now to the case of continuous compounding, let us suppose that there may be deposits or withdrawals in addition to the accrual of interest, dividends, or capital gains. If we assume that the deposits or withdrawals take place at a constant rate k, then Eq. (11) is replaced by d S/dt = r S + k, or, in standard form, d S/dt − r S = k,
(15)
where k is positive for deposits and negative for withdrawals. Equation (15) is linear with the integrating factor e−r t , so its general solution is S(t) = cer t − (k/r ), where c is an arbitrary constant. To satisfy the initial condition (12) we must choose c = S0 + (k/r ). Thus the solution of the initial value problem (15), (12) is S(t) = S0 er t + (k/r )(er t − 1).
(16)
The first term in expression (16) is the part of S(t) that is due to the return accumulated on the initial amount S0 , while the second term is the part that is due to the deposit or withdrawal rate k. The advantage of stating the problem in this general way without specific values for S0 , r , or k lies in the generality of the resulting formula (16) for S(t). With this formula we can readily compare the results of different investment programs or different rates of return. For instance, suppose that one opens an individual retirement account (IRA) at age 25 and makes annual investments of $2000 thereafter in a continuous manner. Assuming a rate of return of 8%, what will be the balance in the IRA at age 65? We have S0 = 0, r = 0.08, and k = $2000, and we wish to determine S(40). From Eq. (16) we have S(40) = (25,000)(e3.2 − 1) = $588,313.
(17)
It is interesting to note that the total amount invested is $80,000, so the remaining amount of $508,313 results from the accumulated return on the investment. The balance after 40 years is also fairly sensitive to the assumed rate. For instance, S(40) = $508,948 if r = 0.075 and S(40) = $681,508 if r = 0.085.
54
Chapter 2. First Order Differential Equations
Let us now examine the assumptions that have gone into the model. First, we have assumed that the return is compounded continuously and that additional capital is invested continuously. Neither of these is true in an actual financial situation. We have also assumed that the return rate r is constant for the entire period involved, whereas in fact it is likely to fluctuate considerably. Although we cannot reliably predict future rates, we can use expression (16) to determine the approximate effect of different rate projections. It is also possible to consider r and k in Eq. (15) to be functions of t rather than constants; in that case, of course, the solution may be much more complicated than Eq. (16). The initial value problem (15), (12) and the solution (16) can also be used to analyze a number of other financial situations, including annuities, mortgages, and automobile loans among others.
EXAMPLE
3 Chemicals in a Pond
Consider a pond that initially contains 10 million gal of fresh water. Water containing an undesirable chemical flows into the pond at the rate of 5 million gal/year and the mixture in the pond flows out at the same rate. The concentration γ (t) of chemical in the incoming water varies periodically with time according to the expression γ (t) = 2 + sin 2t g/gal. Construct a mathematical model of this flow process and determine the amount of chemical in the pond at any time. Plot the solution and describe in words the effect of the variation in the incoming concentration. Since the incoming and outgoing flows of water are the same, the amount of water in the pond remains constant at 107 gal. Let us denote time by t, measured in years, and the chemical by Q(t), measured in grams. This example is similar to Example 1 and the same inflow/outflow principle applies. Thus dQ = rate in − rate out, dt where “rate in” and “rate out” refer to the rates at which the chemical flows into and out of the pond, respectively. The rate at which the chemical flows in is given by rate in = (5 × 106 ) gal/yr (2 + sin 2t) g/gal.
(18)
The concentration of chemical in the pond is Q(t)/107 g/gal, so the rate of flow out is rate out = (5 × 106 ) gal/yr[Q(t)/107 ] g/gal = Q(t)/2 g/yr.
(19)
Thus we obtain the differential equation Q(t) dQ = (5 × 106 )(2 + sin 2t) − , (20) dt 2 where each term has the units of g/yr. To make the coefficients more manageable, it is convenient to introduce a new dependent variable defined by q(t) = Q(t)/106 or Q(t) = 106 q(t). This means that q(t) is measured in millions of grams, or megagrams. If we make this substitution in Eq. (20), then each term contains the factor 106 , which can be cancelled. If we also transpose the term involving q(t) to the left side of the equation, we finally have dq + 12 q = 10 + 5 sin 2t. dt
(21)
55
2.3 Modeling with First Order Equations
Originally, there is no chemical in the pond, so the initial condition is q(0) = 0.
(22)
Equation (21) is linear and, although the right side is a function of time, the coefficient of q is a constant. Thus the integrating factor is et/2 . Multiplying Eq. (21) by this factor and integrating the resulting equation, we obtain the general solution q(t) = 20 −
40 17
cos 2t +
10 17
sin 2t + ce−t/2 .
(23)
The initial condition (22) requires that c = −300/17, so the solution of the initial value problem (21), (22) is q(t) = 20 −
40 17
cos 2t +
10 17
sin 2t −
300 −t/2 e . 17
(24)
A plot of the solution (24) is shown in Figure 2.3.3, along with the line q = 20. The exponential term in the solution is important for small t, but diminishes rapidly as t increases. Later, the solution consists of an oscillation, due to the sin 2t and cos 2t terms, about the constant level q = 20. Note that if the sin 2t term were not present in Eq. (21), then q = 20 would be the equilibrium solution of that equation. q 22 20 18 16 14 12 10 8 6 4 2 2
4
6
8
10
12
14
16
18
20
t
FIGURE 2.3.3 Solution of the initial value problem (21), (22).
Let us now consider the adequacy of the mathematical model itself for this problem. The model rests on several assumptions that have not yet been stated explicitly. In the first place, the amount of water in the pond is controlled entirely by the rates of flow in and out—none is lost by evaporation or by seepage into the ground, or gained by rainfall. Further, the same is also true of the chemical; it flows in and out of the pond, but none is absorbed by fish or other organisms living in the pond. In addition, we assume that the concentration of chemical in the pond is uniform throughout the pond. Whether the results obtained from the model are accurate depends strongly on the validity of these simplifying assumptions.
56
Chapter 2. First Order Differential Equations
EXAMPLE
4 Escape Velocity
A body of constant mass m is projected away from the earth in a direction perpendicular to the earth’s surface with an initial velocity v0 . Assuming that there is no air resistance, but taking into account the variation of the earth’s gravitational field with distance, find an expression for the velocity during the ensuing motion. Also find the initial velocity that is required to lift the body to a given maximum altitude ξ above the surface of the earth, and the smallest initial velocity for which the body will not return to the earth; the latter is the escape velocity. Let the positive x-axis point away from the center of the earth along the line of motion with x = 0 lying on the earth’s surface; see Figure 2.3.4. The figure is drawn
mgR 2 (R + x)2 R
m
x
FIGURE 2.3.4 A body in the earth’s gravitational field.
horizontally to remind you that gravity is directed toward the center of the earth, which is not necessarily downward from a perspective away from the earth’s surface. The gravitational force acting on the body (that is, its weight) is inversely proportional to the square of the distance from the center of the earth and is given by w(x) = −k/(x + R)2 , where k is a constant, R is the radius of the earth, and the minus sign signifies that w(x) is directed in the negative x direction. We know that on the earth’s surface w(0) is given by −mg, where g is the acceleration due to gravity at sea level. Therefore k = mg R 2 and w(x) = −
mg R 2 . (R + x)2
(25)
Since there are no other forces acting on the body, the equation of motion is m
dv mg R 2 =− , dt (R + x)2
(26)
and the initial condition is v(0) = v0 .
(27)
Unfortunately, Eq. (26) involves too many variables since it depends on t, x, and v. To remedy this situation we can eliminate t from Eq. (26) by thinking of x, rather than t, as the independent variable. Then we must express dv/dt in terms of dv/dx by the chain rule; hence dv dx dv dv = =v , dt dx dt dx and Eq. (26) is replaced by v
g R2 dv . =− dx (R + x)2
(28)
57
2.3 Modeling with First Order Equations
Equation (28) is separable but not linear, so by separating the variables and integrating we obtain v2 g R2 = + c. 2 R+x
(29)
Since x = 0 when t = 0, the initial condition (27) at t = 0 can be replaced by the condition that v = v0 when x = 0. Hence c = (v02 /2) − g R and
2g R 2 . (30) v = ± v02 − 2g R + R+x Note that Eq. (30) gives the velocity as a function of altitude rather than as a function of time. The plus sign must be chosen if the body is rising, and the minus sign if it is falling back to earth. To determine the maximum altitude ξ that the body reaches, we set v = 0 and x = ξ in Eq. (30) and then solve for ξ , obtaining ξ=
v02 R . 2g R − v02
(31)
Solving Eq. (31) for v0 , we find the initial velocity required to lift the body to the altitude ξ , namely,
ξ v0 = 2g R . (32) R+ξ The escape velocity ve is then found by letting ξ → ∞. Consequently, ve = 2g R.
(33)
The numerical value of ve is approximately 6.9 miles/sec or 11.1 km/sec. The preceding calculation of the escape velocity neglects the effect of air resistance, so the actual escape velocity (including the effect of air resistance) is somewhat higher. On the other hand, the effective escape velocity can be significantly reduced if the body is transported a considerable distance above sea level before being launched. Both gravitational and frictional forces are thereby reduced; air resistance, in particular, diminishes quite rapidly with increasing altitude. You should keep in mind also that it may well be impractical to impart too large an initial velocity instantaneously; space vehicles, for instance, receive their initial acceleration during a period of a few minutes.
PROBLEMS
1. Consider a tank used in certain hydrodynamic experiments. After one experiment the tank contains 200 liters of a dye solution with a concentration of 1 g/liter. To prepare for the next experiment, the tank is to be rinsed with fresh water flowing in at a rate of 2 liters/min, the well-stirred solution flowing out at the same rate. Find the time that will elapse before the concentration of dye in the tank reaches 1% of its original value. 2. A tank initially contains 120 liters of pure water. A mixture containing a concentration of γ g/liter of salt enters the tank at a rate of 2 liters/min, and the well-stirred mixture leaves the tank at the same rate. Find an expression in terms of γ for the amount of salt in the tank at any time t. Also find the limiting amount of salt in the tank as t → ∞.
58
Chapter 2. First Order Differential Equations
3. A tank originally contains 100 gal of fresh water. Then water containing 12 lb of salt per gallon is poured into the tank at a rate of 2 gal/min, and the mixture is allowed to leave at the same rate. After 10 min the process is stopped, and fresh water is poured into the tank at a rate of 2 gal/min, with the mixture again leaving at the same rate. Find the amount of salt in the tank at the end of an additional 10 min. 4. A tank with a capacity of 500 gal originally contains 200 gal of water with 100 lb of salt in solution. Water containing 1 lb of salt per gallon is entering at a rate of 3 gal/min, and the mixture is allowed to flow out of the tank at a rate of 2 gal/min. Find the amount of salt in the tank at any time prior to the instant when the solution begins to overflow. Find the concentration (in pounds per gallon) of salt in the tank when it is on the point of overflowing. Compare this concentration with the theoretical limiting concentration if the tank had infinite capacity. 䉴 5. A tank contains 100 gallons of water and 50 oz of salt. Water containing a salt concentration of 14 (1 + 12 sin t) oz/gal flows into the tank at a rate of 2 gal/min, and the mixture in the tank flows out at the same rate. (a) Find the amount of salt in the tank at any time. (b) Plot the solution for a time period long enough so that you see the ultimate behavior of the graph. (c) The long-time behavior of the solution is an oscillation about a certain constant level. What is this level? What is the amplitude of the oscillation? 6. Suppose that a sum S0 is invested at an annual rate of return r compounded continuously. (a) Find the time T required for the original sum to double in value as a function of r . (b) Determine T if r = 7%. (c) Find the return rate that must be achieved if the initial investment is to double in 8 years. 7. A young person with no initial capital invests k dollars per year at an annual rate of return r . Assume that investments are made continuously and that the return is compounded continuously. (a) Determine the sum S(t) accumulated at any time t. (b) If r = 7.5%, determine k so that $1 million will be available for retirement in 40 years. (c) If k = $2000/year, determine the return rate r that must be obtained to have $1 million available in 40 years. 䉴 8. Person A opens an IRA at age 25, contributes $2000/year for 10 years, but makes no additional contributions thereafter. Person B waits until age 35 to open an IRA and contributes $2000/year for 30 years. There is no initial investment in either case. (a) Assuming a return rate of 8%, what is the balance in each IRA at age 65? (b) For a constant, but unspecified, return rate r , determine the balance in each IRA at age 65 as a function of r . (c) Plot the difference in the balances from part (b) for 0 ≤ r ≤ 0.10. (d) Determine the return rate for which the two IRA’s have equal value at age 65. 9. A certain college graduate borrows $8000 to buy a car. The lender charges interest at an annual rate of 10%. Assuming that interest is compounded continuously and that the borrower makes payments continuously at a constant annual rate k, determine the payment rate k that is required to pay off the loan in 3 years. Also determine how much interest is paid during the 3-year period. 10. A home buyer can afford to spend no more than $800/month on mortgage payments. Suppose that the interest rate is 9% and that the term of the mortgage is 20 years. Assume that interest is compounded continuously and that payments are also made continuously. (a) Determine the maximum amount that this buyer can afford to borrow. (b) Determine the total interest paid during the term of the mortgage. 11. How are the answers to Problem 10 changed if the term of the mortgage is 30 years?
59
2.3 Modeling with First Order Equations
䉴 12. A recent college graduate borrows $100,000 at an interest rate of 9% to purchase a condominium. Anticipating steady salary increases, the buyer expects to make payments at a monthly rate of 800(1 + t/120), where t is the number of months since the loan was made. (a) Assuming that this payment schedule can be maintained, when will the loan be fully paid? (b) Assuming the same payment schedule, how large a loan could be paid off in exactly 20 years? 13. A retired person has a sum S(t) invested so as to draw interest at an annual rate r compounded continuously. Withdrawals for living expenses are made at a rate of k dollars/year; assume that the withdrawals are made continuously. (a) If the initial value of the investment is S0 , determine S(t) at any time. (b) Assuming that S0 and r are fixed, determine the withdrawal rate k0 at which S(t) will remain constant. (c) If k exceeds the value k0 found in part (b), then S(t) will decrease and ultimately become zero. Find the time T at which S(t) = 0. (d) Determine T if r = 8% and k = 2k0 . (e) Suppose that a person retiring with capital S0 wishes to withdraw funds at an annual rate k for not more than T years. Determine the maximum possible rate of withdrawal. (f) How large an initial investment is required to permit an annual withdrawal of $12,000 for 20 years, assuming an interest rate of 8%? 14. Radiocarbon Dating. An important tool in archeological research is radiocarbon dating. This is a means of determining the age of certain wood and plant remains, hence of animal or human bones or artifacts found buried at the same levels. The procedure was developed by the American chemist Willard Libby (1908–1980) in the early 1950s and resulted in his winning the Nobel prize for chemistry in 1960. Radiocarbon dating is based on the fact that some wood or plant remains contain residual amounts of carbon-14, a radioactive isotope of carbon. This isotope is accumulated during the lifetime of the plant and begins to decay at its death. Since the half-life of carbon-14 is long (approximately 5730 years1), measurable amounts of carbon-14 remain after many thousands of years. Libby showed that if even a tiny fraction of the original amount of carbon-14 is still present, then by appropriate laboratory measurements the proportion of the original amount of carbon-14 that remains can be accurately determined. In other words, if Q(t) is the amount of carbon-14 at time t and Q 0 is the original amount, then the ratio Q(t)/Q 0 can be determined, at least if this quantity is not too small. Present measurement techniques permit the use of this method for time periods up to about 50,000 years, after which the amount of carbon-14 remaining is only about 0.00236 of the original amount. (a) Assuming that Q satisfies the differential equation Q = −r Q, determine the decay constant r for carbon-14. (b) Find an expression for Q(t) at any time t, if Q(0) = Q 0 . (c) Suppose that certain remains are discovered in which the current residual amount of carbon-14 is 20% of the original amount. Determine the age of these remains. 15. The population of mosquitoes in a certain area increases at a rate proportional to the current population and, in the absence of other factors, the population doubles each week. There are 200,000 mosquitoes in the area initially, and predators (birds, etc.) eat 20,000 mosquitoes/day. Determine the population of mosquitoes in the area at any time. 䉴 16. Suppose that a certain population has a growth rate that varies with time and that this population satisfies the differential equation dy/dt = (0.5 + sin t)y/5.
1
McGraw-Hill Encyclopedia of Science and Technology (8th ed.) (New York: McGraw-Hill, 1997), Vol. 5, p. 48.
60
Chapter 2. First Order Differential Equations
(a) If y(0) = 1, find (or estimate) the time τ at which the population has doubled. Choose other initial conditions and determine whether the doubling time τ depends on the initial population. (b) Suppose that the growth rate is replaced by its average value 1/10. Determine the doubling time τ in this case. (c) Suppose that the term sin t in the differential equation is replaced by sin 2π t; that is, the variation in the growth rate has a substantially higher frequency. What effect does this have on the doubling time τ ? (d) Plot the solutions obtained in parts (a), (b), and (c) on a single set of axes. 䉴 17. Suppose that a certain population satisfies the initial value problem dy/dt = r (t)y − k,
y(0) = y0 ,
where the growth rate r (t) is given by r (t) = (1 + sin t)/5 and k represents the rate of predation. (a) Suppose that k = 1/5. Plot y versus t for several values of y0 between 1/2 and 1. (b) Estimate the critical initial population yc below which the population will become extinct. (c) Choose other values of k and find the corresponding yc for each one. (d) Use the data you have found in parts (a) and (b) to plot yc versus k. 18. Newton’s law of cooling states that the temperature of an object changes at a rate proportional to the difference between its temperature and that of its surroundings. Suppose that the temperature of a cup of coffee obeys Newton’s law of cooling. If the coffee has a temperature of 200◦ F when freshly poured, and 1 min later has cooled to 190◦ F in a room at 70◦ F, determine when the coffee reaches a temperature of 150◦ F. 19. Suppose that a room containing 1200 ft3 of air is originally free of carbon monoxide. Beginning at time t = 0 cigarette smoke, containing 4% carbon monoxide, is introduced into the room at a rate of 0.1 ft3 /min, and the well-circulated mixture is allowed to leave the room at the same rate. (a) Find an expression for the concentration x(t) of carbon monoxide in the room at any time t > 0. (b) Extended exposure to a carbon monoxide concentration as low as 0.00012 is harmful to the human body. Find the time τ at which this concentration is reached. 20. Consider a lake of constant volume V containing at time t an amount Q(t) of pollutant, evenly distributed throughout the lake with a concentration c(t), where c(t) = Q(t)/V . Assume that water containing a concentration k of pollutant enters the lake at a rate r , and that water leaves the lake at the same rate. Suppose that pollutants are also added directly to the lake at a constant rate P. Note that the given assumptions neglect a number of factors that may, in some cases, be important; for example, the water added or lost by precipitation, absorption, and evaporation; the stratifying effect of temperature differences in a deep lake; the tendency of irregularities in the coastline to produce sheltered bays; and the fact that pollutants are not deposited evenly throughout the lake, but (usually) at isolated points around its periphery. The results below must be interpreted in the light of the neglect of such factors as these. (a) If at time t = 0 the concentration of pollutant is c0 , find an expression for the concentration c(t) at any time. What is the limiting concentration as t → ∞? (b) If the addition of pollutants to the lake is terminated (k = 0 and P = 0 for t > 0), determine the time interval T that must elapse before the concentration of pollutants is reduced to 50% of its original value; to 10% of its original value. (c) Table 2.3.2 contains data2 for several of the Great Lakes. Using these data determine 2 This problem is based on R. H. Rainey, “Natural Displacement of Pollution from the Great Lakes,” Science 155 (1967), pp. 1242–1243; the information in the table was taken from that source.
61
2.3 Modeling with First Order Equations
TABLE 2.3.2 Volume and Flow Data for the Great Lakes Lake Superior Michigan Erie Ontario
䉴 21.
䉴 22.
䉴 23.
䉴 24.
25.
V (km3 × 103 )
r (km3 /year)
12.2 4.9 0.46 1.6
65.2 158 175 209
from part (b) the time T necessary to reduce the contamination of each of these lakes to 10% of the original value. A ball with mass 0.15 kg is thrown upward with initial velocity 20 m/sec from the roof of a building 30 m high. Neglect air resistance. (a) Find the maximum height above the ground that the ball reaches. (b) Assuming that the ball misses the building on the way down, find the time that it hits the ground. (c) Plot the graphs of velocity and position versus time. Assume that the conditions are as in Problem 21 except that there is a force due to air resistance of |v|/30, where the velocity v is measured in m/sec. (a) Find the maximum height above the ground that the ball reaches. (b) Find the time that the ball hits the ground. (c) Plot the graphs of velocity and position versus time. Compare these graphs with the corresponding ones in Problem 21. Assume that the conditions are as in Problem 21 except that there is a force due to air resistance of v 2 /1325, where the velocity v is measured in m/sec. (a) Find the maximum height above the ground that the ball reaches. (b) Find the time that the ball hits the ground. (c) Plot the graphs of velocity and position versus time. Compare these graphs with the corresponding ones in Problems 21 and 22. A sky diver weighing 180 lb (including equipment) falls vertically downward from an altitude of 5000 ft, and opens the parachute after 10 sec of free fall. Assume that the force of air resistance is 0.75|v| when the parachute is closed and 12|v| when the parachute is open, where the velocity v is measured in ft/sec. (a) Find the speed of the sky diver when the parachute opens. (b) Find the distance fallen before the parachute opens. (c) What is the limiting velocity v L after the parachute opens? (d) Determine how long the sky diver is in the air after the parachute opens. (e) Plot the graph of velocity versus time from the beginning of the fall until the skydiver reaches the ground. A body of constant mass m is projected vertically upward with an initial velocity v0 in a medium offering a resistance k|v|, where k is a constant. Neglect changes in the gravitational force. (a) Find the maximum height xm attained by the body and the time tm at which this maximum height is reached. (b) Show that if kv0 /mg < 1, then tm and xm can be expressed as
v0 1 kv0 1 kv0 2 tm = − ··· , 1− + g 2 mg 3 mg
v02 2 kv0 1 kv0 2 xm = − ··· . 1− + 2g 3 mg 2 mg
62
Chapter 2. First Order Differential Equations
(c) Show that the quantity kv0 /mg is dimensionless. 26. A body of mass m is projected vertically upward with an initial velocity v0 in a medium offering a resistance k|v|, where k is a constant. Assume that the gravitational attraction of the earth is constant. (a) Find the velocity v(t) of the body at any time. (b) Use the result of part (a) to calculate the limit of v(t) as k → 0, that is, as the resistance approaches zero. Does this result agree with the velocity of a mass m projected upward with an initial velocity v0 in a vacuum? (c) Use the result of part (a) to calculate the limit of v(t) as m → 0, that is, as the mass approaches zero. 27. A body falling in a relatively dense fluid, oil for example, is acted on by three forces (see Figure 2.3.5): a resistive force R, a buoyant force B, and its weight w due to gravity. The buoyant force is equal to the weight of the fluid displaced by the object. For a slowly moving spherical body of radius a, the resistive force is given by Stokes’3 law R = 6π µa|v|, where v is the velocity of the body, and µ is the coefficient of viscosity of the surrounding fluid. R
B
a
w
FIGURE 2.3.5 A body falling in a dense fluid. (a) Find the limiting velocity of a solid sphere of radius a and density ρ falling freely in a medium of density ρ and coefficient of viscosity µ. (b) In 1910 the American physicist R. A. Millikan (1868–1953) determined the charge on an electron by studying the motion of tiny droplets of oil falling in an electric field. A field of strength E exerts a force Ee on a droplet with charge e. Assume that E has been adjusted so the droplet is held stationary (v = 0), and that w and B are as given above. Find a formula for e. Millikan was able to identify e as the charge on an electron and to determine that e = 4.803 × 10−10 esu. 䉴 28. A mass of 0.25 kg is dropped from rest in a medium offering a resistance of 0.2|v|, where v is measured in m /sec. (a) If the mass is dropped from a height of 30 m, find its velocity when it hits the ground. (b) If the mass is to attain a velocity of no more than 10 m /sec, find the maximum height from which it can be dropped. (c) Suppose that the resistive force is k|v|, where v is measured in m /sec and k is a constant. If the mass is dropped from a height of 30 m and must hit the ground with a velocity of no more than 10 m /sec, determine the coefficient of resistance k that is required. 3
George Gabriel Stokes (1819 –1903), professor at Cambridge, was one of the foremost applied mathematicians of the nineteenth century. The basic equations of fluid mechanics (the Navier–Stokes equations) are named partly in his honor, and one of the fundamental theorems of vector calculus bears his name. He was also one of the pioneers in the use of divergent (asymptotic) series, a subject of great interest and importance today.
63
2.3 Modeling with First Order Equations
29. Suppose that a√rocket is launched straight up from the surface of the earth with initial velocity v0 = 2g R, where R is the radius of the earth. Neglect air resistance. (a) Find an expression for the velocity v in terms of the distance x from the surface of the earth. (b) Find the time required for the rocket to go 240,000 miles (the approximate distance from the earth to the moon). Assume that R = 4000 miles. 30. Find the escape velocity for a body projected upward with an initial velocity v0 from a point x0 = ξ R above the surface of the earth, where R is the radius of the earth and ξ is a constant. Neglect air resistance. Find the initial altitude from which the body must be launched in order to reduce the escape velocity to 85% of its value at the earth’s surface. 䉴 31. Let v(t) and w(t) be the horizontal and vertical components of the velocity of a batted (or thrown) baseball. In the absence of air resistance, v and w satisfy the equations dv/dt = 0,
dw/dt = −g.
(a) Show that v = u cos A,
w = −gt + u sin A,
where u is the initial speed of the ball and A is its initial angle of elevation. (b) Let x(t) and y(t), respectively, be the horizontal and vertical coordinates of the ball at time t. If x(0) = 0 and y(0) = h, find x(t) and y(t) at any time t. (c) Let g = 32 ft/sec2 , u = 125 ft/sec, and h = 3 ft. Plot the trajectory of the ball for several values of the angle A, that is, plot x(t) and y(t) parametrically. (d) Suppose the outfield wall is at a distance L and has height H . Find a relation between u and A that must be satisfied if the ball is to clear the wall. (e) Suppose that L = 350 ft and H = 10 ft. Using the relation in part (d), find (or estimate from a plot) the range of values of A that correspond to an initial velocity of u = 110 ft/sec. (f) For L = 350 and H = 10 find the minimum initial velocity u and the corresponding optimal angle A for which the ball will clear the wall. 䉴 32. A more realistic model (than that in Problem 31) of a baseball in flight includes the effect of air resistance. In this case the equations of motion are dv/dt = −r v,
dw/dt = −g − r w,
where r is the coefficient of resistance. (a) Determine v(t) and w(t) in terms of initial speed u and initial angle of elevation A. (b) Find x(t) and y(t) if x(0) = 0 and y(0) = h. (c) Plot the trajectory of the ball for r = 1/5, u = 125, h = 3, and for several values of A. How do the trajectories differ from those in Problem 31 with r = 0? (d) Assuming that r = 1/5 and h = 3, find the minimum initial velocity u and the optimal angle A for which the ball will clear a wall that is 350 ft distant and 10 ft high. Compare this result with that in Problem 31(f). 33. Brachistochrone Problem. One of the famous problems in the history of mathematics is the brachistochrone problem: to find the curve along which a particle will slide without friction in the minimum time from one given point P to another Q, the second point being lower than the first but not directly beneath it (see Figure 2.3.6). This problem was posed by Johann Bernoulli in 1696 as a challenge problem to the mathematicians of his day. Correct solutions were found by Johann Bernoulli and his brother Jakob Bernoulli, and by Isaac Newton, Gottfried Leibniz, and Marquis de L’Hospital. The brachistochrone problem is important in the development of mathematics as one of the forerunners of the calculus of variations. In solving this problem it is convenient to take the origin as the upper point P and to orient the axes as shown in Figure 2.3.6. The lower point Q has coordinates (x0 ,y0 ). It is
64
Chapter 2. First Order Differential Equations P
x
Q(x 0, y0)
y
FIGURE 2.3.6 The brachistochrone. then possible to show that the curve of minimum time is given by a function y = φ(x) that satisfies the differential equation (1 + y 2 )y = k 2 ,
(i)
2
where k is a certain positive constant to be determined later. (a) Solve Eq. (i) for y . Why is it necessary to choose the positive square root? (b) Introduce the new variable t by the relation y = k 2 sin2 t.
(ii)
Show that the equation found in part (a) then takes the form 2k 2 sin2 t dt = d x.
(iii)
(c) Letting θ = 2t, show that the solution of Eq. (iii) for which x = 0 when y = 0 is given by x = k 2 (θ − sin θ )/2,
y = k 2 (1 − cos θ )/2.
(iv)
Equations (iv) are parametric equations of the solution of Eq. (i) that passes through (0, 0). The graph of Eqs. (iv) is called a cycloid. (d) If we make a proper choice of the constant k, then the cycloid also passes through the point (x0 , y0 ) and is the solution of the brachistochrone problem. Find k if x0 = 1 and y0 = 2.
2.4 Differences Between Linear and Nonlinear Equations Up to now, we have been primarily concerned with showing that first order differential equations can be used to investigate many different kinds of problems in the natural sciences, and with presenting methods of solving such equations if they are either linear or separable. Now it is time to turn our attention to some more general questions about differential equations and to explore in more detail some important ways in which nonlinear equations differ from linear ones. Existence and Uniqueness of Solutions. So far, we have encountered a number of initial value problems, each of which had a solution and apparently only one solution. This raises the question of whether this is true of all initial value problems for first order
65
2.4 Differences Between Linear and Nonlinear Equations
equations. In other words, does every initial value problem have exactly one solution? This may be an important question even for nonmathematicians. If you encounter an initial value problem in the course of investigating some physical problem, you might want to know that it has a solution before spending very much time and effort in trying to find it. Further, if you are successful in finding one solution, you might be interested in knowing whether you should continue a search for other possible solutions or whether you can be sure that there are no other solutions. For linear equations the answers to these questions are given by the following fundamental theorem.
Theorem 2.4.1
If the functions p and g are continuous on an open interval I : α < t < β containing the point t = t0 , then there exists a unique function y = φ(t) that satisfies the differential equation y + p(t)y = g(t)
(1)
for each t in I , and that also satisfies the initial condition y(t0 ) = y0 ,
(2)
where y0 is an arbitrary prescribed initial value. Observe that Theorem 2.4.1 states that the given initial value problem has a solution and also that the problem has only one solution. In other words, the theorem asserts both the existence and uniqueness of the solution of the initial value problem (1), (2). In addition, it states that the solution exists throughout any interval I containing the initial point t0 in which the coefficients p and g are continuous. That is, the solution can be discontinuous or fail to exist only at points where at least one of p and g is discontinuous. Such points can often be identified at a glance. The proof of this theorem is partly contained in the discussion in Section 2.1 leading to the formula [Eq. (35) in Section 2.1] µ(s)g(s) ds + c , (3) y= µ(t) where
µ(t) = exp
p(s) ds.
(4)
The derivation in Section 2.1 shows that if Eq. (1) has a solution, then it must be given by Eq. (3). By looking slightly more closely at that derivation, we can also conclude that the differential equation (1) must indeed have a solution. Since p is continuous for α < t < β, it follows that µ is defined in this interval and is a nonzero differentiable function. Upon multiplying Eq. (1) by µ(t) we obtain [µ(t)y] = µ(t)g(t).
(5)
Since both µ and g are continuous, the function µg is integrable, and Eq. (3) follows from Eq. (5). Further, the integral of µg is differentiable, so y as given by Eq. (3) exists and is differentiable throughout the interval α < t < β. By substituting the expression for y in Eq. (3) into either Eq. (1) or Eq. (5), one can easily verify that this expression satisfies the differential equation throughout the interval α < t < β. Finally, the initial
66
Chapter 2. First Order Differential Equations
condition (2) determines the constant c uniquely, so there is only one solution of the initial value problem, thus completing the proof. Equation (4) determines the integrating factor µ(t) only up to a multiplicative factor that depends on the lower limit of integration. If we choose this lower limit to be t0 , then t p(s) ds, (6) µ(t) = exp t0
and it follows that µ(t0 ) = 1. Using the integrating factor given by Eq. (6) and choosing the lower limit of integration in Eq. (3) also to be t0 , we obtain the general solution of Eq. (1) in the form t t µ(s)g(s) ds + c . y= 0 µ(t) To satisfy the initial condition (2) we must choose c = y0 . Thus the solution of the initial value problem (1), (2) is t t µ(s)g(s) ds + y0 y= 0 , (7) µ(t) where µ(t) is given by Eq. (6). Turning now to nonlinear differential equations, we must replace Theorem 2.4.1 by a more general theorem, such as the following.
Theorem 2.4.2
Let the functions f and ∂ f /∂ y be continuous in some rectangle α < t < β, γ < y < δ containing the point (t0 ,y0 ). Then, in some interval t0 − h < t < t0 + h contained in α < t < β, there is a unique solution y = φ(t) of the initial value problem y = f (t, y),
y(t0 ) = y0 .
(8)
Observe that the hypotheses in Theorem 2.4.2 reduce to those in Theorem 2.4.1 if the differential equation is linear. For then f (t, y) = − p(t)y + g(t) and ∂ f (t, y)/∂ y = − p(t), so the continuity of f and ∂ f /∂ y is equivalent to the continuity of p and g in this case. The proof of Theorem 2.4.1 was comparatively simple because it could be based on the expression (3) that gives the solution of an arbitrary linear equation. There is no corresponding expression for the solution of the differential equation (8), so the proof of Theorem 2.4.2 is much more difficult. It is discussed to some extent in Section 2.8 and in greater depth in more advanced books on differential equations. Here we note that the conditions stated in Theorem 2.4.2 are sufficient to guarantee the existence of a unique solution of the initial value problem (8) in some interval t0 − h < t < t0 + h, but they are not necessary. That is, the conclusion remains true under slightly weaker hypotheses about the function f . In fact, the existence of a solution (but not its uniqueness) can be established on the basis of the continuity of f alone. We now consider some examples.
67
2.4 Differences Between Linear and Nonlinear Equations
Use Theorem 2.4.1 to find an interval in which the initial value problem EXAMPLE
t y + 2y = 4t 2 , y(1) = 2
1
(9) (10)
has a unique solution. Rewriting Eq. (9) in the standard form (1), we have y + (2/t)y = 4t,
(11)
so p(t) = 2/t and g(t) = 4t. Thus, for this equation, g is continuous for all t, while p is continuous only for t < 0 or for t > 0. The interval t > 0 contains the initial point; consequently, Theorem 2.4.1 guarantees that the problem (9), (10) has a unique solution on the interval 0 < t < ∞. In Example 4 of Section 2.1 we found the solution of this initial value problem to be 1 , t > 0. (12) t2 Now suppose that the initial condition (10) is changed to y(−1) = 2. Then Theorem 2.4.1 asserts the existence of a unique solution for t < 0. As you can readily verify, the solution is again given by Eq. (12), but now on the interval −∞ < t < 0. y = t2 +
Apply Theorem 2.4.2 to the initial value problem EXAMPLE
3x 2 + 4x + 2 dy = , dx 2(y − 1)
2
y(0) = −1.
(13)
Note that Theorem 2.4.1 is not applicable to this problem since the differential equation is nonlinear. To apply Theorem 2.4.2, observe that f (x, y) =
3x 2 + 4x + 2 , 2(y − 1)
∂f 3x 2 + 4x + 2 . (x, y) = − ∂y 2(y − 1)2
Thus both these functions are continuous everywhere except on the line y = 1. Consequently, a rectangle can be drawn about the initial point (0, −1) in which both f and ∂ f /∂ y are continuous. Therefore Theorem 2.4.2 guarantees that the initial value problem has a unique solution in some interval about x = 0. However, even though the rectangle can be stretched infinitely far in both the positive and negative x directions, this does not necessarily mean that the solution exists for all x. Indeed, the initial value problem (13) was solved in Example 2 of Section 2.2 and the solution exists only for x > −2. Now suppose we change the initial condition to y(0) = 1. The initial point now lies on the line y = 1 so no rectangle can be drawn about it within which f and ∂ f /∂ y are continuous. Consequently, Theorem 2.4.2 says nothing about possible solutions of this modified problem. However, if we separate the variables and integrate, as in Section 2.2, we find that y 2 − 2y = x 3 + 2x 2 + 2x + c. Further, if x = 0 and y = 1, then c = −1. Finally, by solving for y, we obtain y = 1 ± x 3 + 2x 2 + 2x.
(14)
68
Chapter 2. First Order Differential Equations
Equation (14) provides two functions that satisfy the given differential equation for x > 0 and also satisfy the initial condition y(0) = 1.
Consider the initial value problem EXAMPLE
y = y 1/3 ,
3
y(0) = 0
(15)
for t ≥ 0. Apply Theorem 2.4.2 to this initial value problem, and then solve the problem. The function f (t, y) = y 1/3 is continuous everywhere, but ∂ f /∂ y = y −2/3 /3 is not continuous when y = 0. Thus Theorem 2.4.2 does not apply to this problem and no conclusion can be drawn from it. However, by the remark following Theorem 2.4.2 the continuity of f does assure the existence of solutions, but not their uniqueness. To understand the situation more clearly, we must actually solve the problem, which is easy to do since the differential equation is separable. Thus we have y −1/3 dy = dt, so 3 2/3 y 2
=t +c
and y=
2 3
3/2 (t + c) .
The initial condition is satisfied if c = 0, so 3/2 , y = φ1 (t) = 23 t
t ≥0
satisfies both of Eqs. (15). On the other hand, the function 3/2 y = φ2 (t) = − 23 t , t ≥0
(16)
(17)
is also a solution of the initial value problem. Moreover, the function y = ψ(t) = 0,
t ≥0
(18)
is yet another solution. Indeed, it is not hard to show that, for an arbitrary positive t0 , the functions 0, if 0 ≤ t < t0 , 3/2 2 (19) y = χ (t) = , if t ≥ t0 ± 3 (t − t0 ) are continuous, differentiable (in particular at t = t0 ), and are solutions of the initial value problem (15). Hence this problem has an infinite family of solutions; see Figure 2.4.1, where a few of these solutions are shown. As already noted, the nonuniqueness of the solutions of the problem (15) does not contradict the existence and uniqueness theorem, since the theorem is not applicable if the initial point lies on the t-axis. If (t0 , y0 ) is any point not on the t-axis, however, then the theorem guarantees that there is a unique solution of the differential equation y = y 1/3 passing through (t0 , y0 ).
69
2.4 Differences Between Linear and Nonlinear Equations y
χ (t)
1
φ1(t) ψ (t)
1
χ (t)
φ 2(t)
–1
t
2
FIGURE 2.4.1 Several solutions of the initial value problem y = y 1/3 , y(0) = 0.
Interval of Definition. tion (1),
According to Theorem 2.4.1, the solution of a linear equay + p(t)y = g(t),
subject to the initial condition y(t0 ) = y0 , exists throughout any interval about t = t0 in which the functions p and g are continuous. Thus, vertical asymptotes or other discontinuities in the solution can occur only at points of discontinuity of p or g. For instance, the solutions in Example 1 (with one exception) are asymptotic to the y-axis, corresponding to the discontinuity at t = 0 in the coefficient p(t) = 2/t, but none of the solutions has any other point where it fails to exist and to be differentiable. The one exceptional solution shows that solutions may sometimes remain continuous even at points of discontinuity of the coefficients. On the other hand, for a nonlinear initial value problem satisfying the hypotheses of Theorem 2.4.2, the interval in which a solution exists may be difficult to determine. The solution y = φ(t) is certain to exist as long as the point [t, φ(t)] remains within a region in which the hypotheses of Theorem 2.4.2 are satisfied. This is what determines the value of h in that theorem. However, since φ(t) is usually not known, it may be impossible to locate the point [t, φ(t)] with respect to this region. In any case, the interval in which a solution exists may have no simple relationship to the function f in the differential equation y = f (t, y). This is illustrated by the following example.
Solve the initial value problem EXAMPLE
4
y = y2,
y(0) = 1,
(20)
and determine the interval in which the solution exists. Theorem 2.4.2 guarantees that this problem has a unique solution since f (t, y) = y 2 and ∂ f /∂ y = 2y are continuous everywhere. To find the solution we separate the variables and integrate with the result that y −2 dy = dt
(21)
70
Chapter 2. First Order Differential Equations
and −y −1 = t + c. Then, solving for y, we have 1 . t +c To satisfy the initial condition we must choose c = −1, so y=−
(22)
1 (23) 1−t is the solution of the given initial value problem. Clearly, the solution becomes unbounded as t → 1; therefore, the solution exists only in the interval −∞ < t < 1. There is no indication from the differential equation itself, however, that the point t = 1 is in any way remarkable. Moreover, if the initial condition is replaced by y=
y(0) = y0 ,
(24)
then the constant c in Eq. (22) must be chosen to be c = −1/y0 , and it follows that y0 y= (25) 1 − y0 t is the solution of the initial value problem with the initial condition (24). Observe that the solution (25) becomes unbounded as t → 1/y0 , so the interval of existence of the solution is −∞ < t < 1/y0 if y0 > 0, and is 1/y0 < t < ∞ if y0 < 0. This example illustrates another feature of initial value problems for nonlinear equations; namely, the singularities of the solution may depend in an essential way on the initial conditions as well as on the differential equation.
General Solution. Another way in which linear and nonlinear equations differ is in connection with the concept of a general solution. For a first order linear equation it is possible to obtain a solution containing one arbitrary constant, from which all possible solutions follow by specifying values for this constant. For nonlinear equations this may not be the case; even though a solution containing an arbitrary constant may be found, there may be other solutions that cannot be obtained by giving values to this constant. For instance, for the differential equation y = y 2 in Example 4, the expression in Eq. (22) contains an arbitrary constant, but does not include all solutions of the differential equation. To show this, observe that the function y = 0 for all t is certainly a solution of the differential equation, but it cannot be obtained from Eq. (22) by assigning a value to c. In this example we might anticipate that something of this sort might happen because to rewrite the original differential equation in the form (21), we must require that y is not zero. However, the existence of “additional” solutions is not uncommon for nonlinear equations; a less obvious example is given in Problem 22. Thus we will use the term “general solution” only when discussing linear equations. Implicit Solutions. Recall again that, for an initial value problem for a first order linear equation, Eq. (7) provides an explicit formula for the solution y = φ(t). As long as the necessary antiderivatives can be found, the value of the solution at any point can be determined merely by substituting the appropriate value of t into the equation. The
2.4 Differences Between Linear and Nonlinear Equations
71
situation for nonlinear equations is much less satisfactory. Usually, the best that we can hope for is to find an equation F(t, y) = 0
(26)
involving t and y that is satisfied by the solution y = φ(t). Even this can be done only for differential equations of certain particular types, of which separable equations are the most important. The equation (26) is called an integral, or first integral, of the differential equation, and (as we have already noted) its graph is an integral curve, or perhaps a family of integral curves. Equation (26), assuming it can be found, defines the solution implicitly; that is, for each value of t we must solve Eq. (26) to find the corresponding value of y. If Eq. (26) is simple enough, it may be possible to solve it for y by analytical means and thereby obtain an explicit formula for the solution. However, more frequently this will not be possible, and you will have to resort to a numerical calculation to determine the value of y for a given value of t. Once several pairs of values of t and y have been calculated, it is often helpful to plot them and then to sketch the integral curve that passes through them. You should arrange for a computer to do this for you, if possible. Examples 2, 3, and 4 are nonlinear problems in which it is easy to solve for an explicit formula for the solution y = φ(t). On the other hand, Examples 1 and 3 in Section 2.2 are cases in which it is better to leave the solution in implicit form, and to use numerical means to evaluate it for particular values of the independent variable. The latter situation is more typical; unless the implicit relation is quadratic in y, or has some other particularly simple form, it is unlikely that it can be solved exactly by analytical methods. Indeed, more often than not, it is impossible even to find an implicit expression for the solution of a first order nonlinear equation. Graphical or Numerical Construction of Integral Curves. Because of the difficulty in obtaining exact analytic solutions of nonlinear differential equations, methods that yield approximate solutions or other qualitative information about solutions are of correspondingly greater importance. We have already described in Section 1.1 how the direction field of a differential equation can be constructed. The direction field can often show the qualitative form of solutions and can also be helpful in identifying regions of the t y-plane where solutions exhibit interesting features that merit more detailed analytical or numerical investigation. Graphical methods for first order equations are discussed further in Section 2.5. An introduction to numerical methods for first order equations is given in Section 2.7 and a systematic discussion of numerical methods appears in Chapter 8. However, it is not necessary to study the numerical algorithms themselves in order to use effectively one of the many software packages that generate and plot numerical approximations to solutions of initial value problems. Summary. Linear equations have several nice properties that can be summarized in the following statements: 1.
Assuming that the coefficients are continuous, there is a general solution, containing an arbitrary constant, that includes all solutions of the differential equation. A particular solution that satisfies a given initial condition can be picked out by choosing the proper value for the arbitrary constant.
72
Chapter 2. First Order Differential Equations
2.
3.
There is an expression for the solution, namely, Eq. (3) or Eq. (7). Moreover, although it involves two integrations, the expression is an explicit one for the solution y = φ(t) rather than an equation that defines φ implicitly. The possible points of discontinuity, or singularities, of the solution can be identified (without solving the problem) merely by finding the points of discontinuity of the coefficients. Thus, if the coefficients are continuous for all t, then the solution also exists and is continuous for all t.
None of these statements is true, in general, of nonlinear equations. While a nonlinear equation may well have a solution involving an arbitrary constant, there may also be other solutions. There is no general formula for solutions of nonlinear equations. If you are able to integrate a nonlinear equation, you are likely to obtain an equation defining solutions implicitly rather than explicitly. Finally, the singularities of solutions of nonlinear equations can usually be found only by solving the equation and examining the solution. It is likely that the singularities will depend on the initial condition as well as the differential equation.
PROBLEMS
In each of Problems 1 through 6 determine (without solving the problem) an interval in which the solution of the given initial value problem is certain to exist. 1. 2. 3. 4. 5. 6.
(t − 3)y + (ln t)y = 2t, y(1) = 2 t (t − 4)y + (t − 2)y + y = 0, y(2) = 1 y(π ) = 0 y + (tan t)y = sin t, (4 − t 2 )y + 2t y = 3t 2 , y(−3) = 1 y(1) = −3 (4 − t 2 )y + 2t y = 3t 2 , (ln t)y + y = cot t, y(2) = 3
In each of Problems 7 through 12 state the region in the t y-plane where the hypotheses of Theorem 2.4.2 are satisfied. Thus there is a unique solution through each given initial point in this region. t−y 2t + 5y ln |t y| 9. y = 1 − t 2 + y2
7. y =
11.
8. y = (1 − t 2 − y 2 )1/2 10. y = (t 2 + y 2 )3/2
dy 1 + t2 = dt 3y − y 2
12.
dy (cot t)y = dt 1+y
In each of Problems 13 through 16 solve the given initial value problem and determine how the interval in which the solution exists depends on the initial value y0 . 13. y = −4t/y, 15. y + y 3 = 0,
y(0) = y0 y(0) = y0
14. y = 2t y 2 , y(0) = y0 2 3 16. y = t /y(1 + t ), y(0) = y0
In each of Problems 17 through 20 draw a direction field and plot (or sketch) several solutions of the given differential equation. Describe how solutions appear to behave as t increases, and how their behavior depends on the initial value y0 when t = 0.
䉴 17. y = t y(3 − y) 䉴 19. y = −y(3 − t y)
䉴 18. y = y(3 − t y) 䉴 20. y = t − 1 − y 2
21. Consider the initial value problem y = y 1/3 , y(0) = 0 from Example 3 in the text. (a) Is there a solution that passes through the point (1, 1)? If so, find it.
73
2.4 Differences Between Linear and Nonlinear Equations
(b) Is there a solution that passes through the point (2, 1)? If so, find it. (c) Consider all possible solutions of the given initial value problem. Determine the set of values that these solutions have at t = 2. 22. (a) Verify that both y1 (t) = 1 − t and y2 (t) = −t 2 /4 are solutions of the initial value problem y =
−t + (t 2 + 4y)1/2 , 2
y(2) = −1.
Where are these solutions valid? (b) Explain why the existence of two solutions of the given problem does not contradict the uniqueness part of Theorem 2.4.2. (c) Show that y = ct + c2 , where c is an arbitrary constant, satisfies the differential equation in part (a) for t ≥ −2c. If c = −1, the initial condition is also satisfied, and the solution y = y1 (t) is obtained. Show that there is no choice of c that gives the second solution y = y2 (t). 23. (a) Show that φ(t) = e2t is a solution of y − 2y = 0 and that y = cφ(t) is also a solution of this equation for any value of the constant c. (b) Show that φ(t) = 1/t is a solution of y + y 2 = 0 for t > 0, but that y = cφ(t) is not a solution of this equation unless c = 0 or c = 1. Note that the equation of part (b) is nonlinear, while that of part (a) is linear. 24. Show that if y = φ(t) is a solution of y + p(t)y = 0, then y = cφ(t) is also a solution for any value of the constant c. 25. Let y = y1 (t) be a solution of y + p(t)y = 0,
(i)
y + p(t)y = g(t).
(ii)
and let y = y2 (t) be a solution of
Show that y = y1 (t) + y2 (t) is also a solution of Eq. (ii). 26. (a) Show that the solution (3) of the general linear equation (1) can be written in the form y = cy1 (t) + y2 (t),
(i)
where c is an arbitrary constant. Identify the functions y1 and y2 . (b) Show that y1 is a solution of the differential equation y + p(t)y = 0,
(ii)
corresponding to g(t) = 0. (c) Show that y2 is a solution of the full linear equation (1). We see later (for example, in Section 3.6) that solutions of higher order linear equations have a pattern similar to Eq. (i). Bernoulli Equations. Sometimes it is possible to solve a nonlinear equation by making a change of the dependent variable that converts it into a linear equation. The most important such equation has the form y + p(t)y = q(t)y n , and is called a Bernoulli equation after Jakob Bernoulli. Problems 27 through 31 deal with equations of this type. 27. (a) Solve Bernoulli’s equation when n = 0; when n = 1. (b) Show that if n = 0, 1, then the substitution v = y 1−n reduces Bernoulli’s equation to a linear equation. This method of solution was found by Leibniz in 1696.
74
Chapter 2. First Order Differential Equations
In each of Problems 28 through 31 the given equation is a Bernoulli equation. In each case solve it by using the substitution mentioned in Problem 27(b). t >0 28. t 2 y + 2t y − y 3 = 0, 29. y = r y − ky 2 , r > 0 and k > 0. This equation is important in population dynamics and is discussed in detail in Section 2.5. 30. y = y − σ y 3 , > 0 and σ > 0. This equation occurs in the study of the stability of fluid flow. 31. dy/dt = ( cos t + T )y − y 3 , where and T are constants. This equation also occurs in the study of the stability of fluid flow. Discontinuous Coefficients. Linear differential equations sometimes occur in which one or both of the functions p and g have jump discontinuities. If t0 is such a point of discontinuity, then it is necessary to solve the equation separately for t < t0 and t > t0 . Afterward, the two solutions are matched so that y is continuous at t0 ; this is accomplished by a proper choice of the arbitrary constants. The following two problems illustrate this situation. Note in each case that it is impossible also to make y continuous at t0 . 32. Solve the initial value problem y + 2y = g(t), where
g(t) =
1, 0,
y(0) = 0, 0 ≤ t ≤ 1, t > 1.
33. Solve the initial value problem y + p(t)y = 0, where
p(t) =
2, 1,
y(0) = 1, 0 ≤ t ≤ 1, t > 1.
2.5 Autonomous Equations and Population Dynamics ODE
ODE
An important class of first order equations are those in which the independent variable does not appear explicitly. Such equations are called autonomous and have the form dy/dt = f (y).
(1)
We will discuss these equations in the context of the growth or decline of the population of a given species, an important issue in fields ranging from medicine to ecology to global economics. A number of other applications are mentioned in some of the problems. Recall that in Sections 1.1 and 1.2 we have already considered the special case of Eq. (1) in which f (y) = ay + b. Equation (1) is separable, so the discussion in Section 2.2 is applicable to it, but our main object now is to show how geometric methods can be used to obtain important qualitative information directly from the differential equation, without solving the equation. Of fundamental importance in this effort are the concepts of stability and instability of solutions of differential equations. These ideas were introduced in
75
2.5 Autonomous Equations and Population Dynamics
Chapter 1, are discussed further here, and will be examined in greater depth and in a more general setting in Chapter 9. Exponential Growth. Let y = φ(t) be the population of the given species at time t. The simplest hypothesis concerning the variation of population is that the rate of change of y is proportional4 to the current value of y, that is, dy/dt = r y,
(2)
where the constant of proportionality r is called the rate of growth or decline, depending on whether it is positive or negative. Here, we assume that r > 0, so the population is growing. Solving Eq. (2) subject to the initial condition y(0) = y0 ,
(3)
y = y0 er t .
(4)
we obtain
Thus the mathematical model consisting of the initial value problem (2), (3) with r > 0 predicts that the population will grow exponentially for all time, as shown in Figure 2.5.1. Under ideal conditions Eq. (4) has been observed to be reasonably accurate for many populations, at least for limited periods of time. However, it is clear that such ideal conditions cannot continue indefinitely; eventually, limitations on space, food supply, or other resources will reduce the growth rate and bring an end to uninhibited exponential growth. y
t
FIGURE 2.5.1 Exponential growth: y versus t for dy/dt = r y.
Logistic Growth. To take account of the fact that the growth rate actually depends on the population, we replace the constant r in Eq. (2) by a function h(y) and thereby obtain the modified equation dy/dt = h(y)y. 4
(5)
It was apparently the British economist Thomas Malthus (1766 –1834) who first observed that many biological populations increase at a rate proportional to the population. His first paper on populations appeared in 1798.
76
Chapter 2. First Order Differential Equations
We now want to choose h(y) so that h(y) ∼ = r > 0 when y is small, h(y) decreases as y grows larger, and h(y) < 0 when y is sufficiently large. The simplest function having these properties is h(y) = r − ay, where a is also a positive constant. Using this function in Eq. (5), we obtain dy/dt = (r − ay)y.
(6)
5
Equation (6) is known as the Verhulst equation or the logistic equation. It is often convenient to write the logistic equation in the equivalent form y dy y, (7) =r 1− dt K where K = r/a. The constant r is called the intrinsic growth rate, that is, the growth rate in the absence of any limiting factors. The interpretation of K will become clear shortly. We first seek solutions of Eq. (7) of the simplest possible type, that is, constant functions. For such a solution dy/dt = 0 for all t, so any constant solution of Eq. (7) must satisfy the algebraic equation r (1 − y/K )y = 0. Thus the constant solutions are y = φ1 (t) = 0 and y = φ2 (t) = K . These solutions are called equilibrium solutions of Eq. (7) because they correspond to no change or variation in the value of y as t increases. In the same way, any equilibrium solutions of y 5
4
3
2
1
2
4
6
8
10 t
–1
FIGURE 2.5.2 Direction field for dy/dt = r (1 − y/K )y with r = 1/2 and K = 3. 5
P. F. Verhulst (1804 –1849) was a Belgian mathematician who introduced Eq. (6) as a model for human population growth in 1838. He referred to it as logistic growth; hence Eq. (6) is often called the logistic equation. He was unable to test the accuracy of his model because of inadequate census data, and it did not receive much attention until many years later. Reasonable agreement with experimental data was demonstrated by R. Pearl (1930) for Drosophila melanogaster (fruit fly) populations, and by G. F. Gause (1935) for Paramecium and Tribolium (flour beetle) populations.
77
2.5 Autonomous Equations and Population Dynamics
the more general Eq. (1) can be found by locating the roots of f (y) = 0. The zeros of f (y) are also called critical points. To visualize other solutions of Eq. (7), let us draw a direction field for a typical case, as shown in Figure 2.5.2 when r = 1/2 and K = 3. Observe that the elements of the direction field have the same slope at all points on each particular horizontal line although the slope changes from one line to another. This property follows from the fact that the right side of the logistic equation does not depend on the independent variable t. Observe also that the equilibrium solutions y = 0 and y = 3 seem to be of particular importance. Other solutions appear to approach the solution y = 3 asymptotically as t → ∞, whereas solutions on either side of y = 0 diverge from it. To understand more clearly the nature of the solutions of Eq. (7) and to sketch their graphs quickly, we can start by drawing the graph of f (y) versus y. In the case of Eq. (7), f (y) = r (1 − y/K )y, so the graph is the parabola shown in Figure 2.5.3. The intercepts are (0, 0) and (K , 0), corresponding to the critical points of Eq. (7), and the vertex of the parabola is (K /2, r K /4). Observe that dy/dt > 0 for 0 < y < K ; therefore, y is an increasing function of t when y is in this interval; this is indicated by the rightward-pointing arrows near the y-axis in Figure 2.5.3, or by the upward-pointing arrows in Figure 2.5.4. Similarly, if y > K , then dy/dt < 0; hence y is decreasing, as indicated by the leftward-pointing arrow in Figure 2.5.3, or by the downward-pointing f ( y) (K/2, rK /4) rK /4
K/2
FIGURE 2.5.3
y
K
f (y) versus y for dy/dt = r (1 − y/K )y.
y
φ 2(t) = K
K
K/2 φ 1(t) = 0
t
FIGURE 2.5.4 Logistic growth: y versus t for dy/dt = r (1 − y/K )y.
78
Chapter 2. First Order Differential Equations
arrow in Figure 2.5.4. Further, note that if y is near zero or K , then the slope f (y) is near zero, so the solution curves are relatively flat. They become steeper as the value of y leaves the neighborhood of zero or K . These observations mean that the graphs of solutions of Eq. (7) must have the general shape shown in Figure 2.5.4, regardless of the values of r and K . To carry the investigation one step further, we can determine the concavity of the solution curves and the location of inflection points by finding d 2 y/dt 2 . From the differential equation (1) we obtain (using the chain rule) dy d2 y = f (y) = f (y) f (y). 2 dt dt
(8)
The graph of y versus t is concave up when y > 0, that is, when f and f have the same sign. Similarly, it is concave down when y < 0, which occurs when f and f have opposite signs. The signs of f and f can be easily identified from the graph of f (y) versus y. Inflection points may occur when f (y) = 0. In the case of Eq. (7) solutions are concave up for 0 < y < K /2 where f is positive and increasing (see Figure 2.5.3), so that both f and f are positive. Solutions are also concave up for y > K where f is negative and decreasing (both f and f are negative). For K /2 < y < K solutions are concave down since here f is positive and decreasing, so f is positive but f is negative. There is an inflection point whenever the graph of y versus t crosses the line y = K /2. The graphs in Figure 2.5.4 exhibit these properties. Finally, recall that Theorem 2.4.2, the fundamental existence and uniqueness theorem, guarantees that two different solutions never pass through the same point. Hence, while solutions approach the equilibrium solution y = K as t → ∞, they do not attain this value at any finite time. Since K is the upper bound that is approached, but not exceeded, by growing populations starting below this value, it is natural to refer to K as the saturation level, or the environmental carrying capacity, for the given species. A comparison of Figures 2.5.1 and 2.5.4 reveals that solutions of the nonlinear equation (6) are strikingly different from those of the linear equation (1), at least for large values of t. Regardless of the value of K , that is, no matter how small the nonlinear term in Eq. (6), solutions of that equation approach a finite value as t → ∞, whereas solutions of Eq. (1) grow (exponentially) without bound as t → ∞. Thus even a tiny nonlinear term in the differential equation has a decisive effect on the solution for large t. In many situations it is sufficient to have the qualitative information about the solution y = φ(t) of Eq. (7) that is shown in Figure 2.5.4. This information was obtained entirely from the graph of f (y) versus y, and without solving the differential equation (7). However, if we wish to have a more detailed description of logistic growth—for example, if we wish to know the value of the population at some particular time—then we must solve Eq. (7) subject to the initial condition (3). Provided that y = 0 and y = K , we can write Eq. (7) in the form dy = r dt. (1 − y/K )y
79
2.5 Autonomous Equations and Population Dynamics
Using a partial fraction expansion on the left side, we have
1/K 1 + y 1 − y/K
dy = r dt.
Then by integrating both sides we obtain y ln |y| − ln 1 − = r t + c, K
(9)
where c is an arbitrary constant of integration to be determined from the initial condition y(0) = y0 . We have already noted that if 0 < y0 < K , then y remains in this interval for all time. Thus in this case we can remove the absolute value bars in Eq. (9), and by taking the exponential of both sides, we find that y = Cer t , 1 − (y/K )
(10)
where C = ec . To satisfy the initial condition y(0) = y0 we must choose C = y0 /[1 − (y0 /K )]. Using this value for C in Eq. (10) and solving for y, we obtain y=
y0 K . y0 + (K − y0 )e−r t
(11)
We have derived the solution (11) under the assumption that 0 < y0 < K . If y0 > K , then the details of dealing with Eq. (9) are only slightly different, and we leave it to you to show that Eq. (11) is also valid in this case. Finally, note that Eq. (11) also contains the equilibrium solutions y = φ1 (t) = 0 and y = φ2 (t) = K corresponding to the initial conditions y0 = 0 and y0 = K , respectively. All the qualitative conclusions that we reached earlier by geometric reasoning can be confirmed by examining the solution (11). In particular, if y0 = 0, then Eq. (11) requires that y(t) = 0 for all t. If y0 > 0, and if we let t → ∞ in Eq. (11), then we obtain lim y(t) = y0 K /y0 = K .
t→∞
Thus for each y0 > 0 the solution approaches the equilibrium solution y = φ2 (t) = K asymptotically (in fact, exponentially) as t → ∞. Therefore we say that the constant solution φ2 (t) = K is an asymptotically stable solution of Eq. (7), or that the point y = K is an asymptotically stable equilibrium or critical point. This means that after a long time the population is close to the saturation level K regardless of the initial population size, as long as it is positive. On the other hand, the situation for the equilibrium solution y = φ1 (t) = 0 is quite different. Even solutions that start very near zero grow as t increases and, as we have seen, approach K as t → ∞. We say that φ1 (t) = 0 is an unstable equilibrium solution or that y = 0 is an unstable equilibrium or critical point. This means that the only way to guarantee that the solution remains near zero is to make sure its initial value is exactly equal to zero.
80
Chapter 2. First Order Differential Equations
EXAMPLE
1
The logistic model has been applied to the natural growth of the halibut population in certain areas of the Pacific Ocean.6 Let y, measured in kilograms, be the total mass, or biomass, of the halibut population at time t. The parameters in the logistic equation are estimated to have the values r = 0.71/year and K = 80.5 × 106 kg. If the initial biomass is y0 = 0.25K , find the biomass 2 years later. Also find the time τ for which y(τ ) = 0.75K . It is convenient to scale the solution (11) to the carrying capacity K ; thus we write Eq. (11) in the form y0 /K y = . K (y0 /K ) + [1 − (y0 /K )]e−r t
(12)
Using the data given in the problem, we find that 0.25 y(2) ∼ = = 0.5797. K 0.25 + 0.75e−1.42 Consequently, y(2) ∼ = 46.7 × 106 kg. y/ K 1.75 1.50 1.25 1.00 0.75 0.50 0.25 1
FIGURE 2.5.5
2
3 τ ≅ 3.095
4
5
6
t
y/K versus t for population model of halibut in the Pacific Ocean.
To find τ we can first solve Eq. (12) for t. We obtain e−r t =
(y0 /K )[1 − (y/K )] ; (y/K )[1 − (y0 /K )]
hence 1 (y /K )[1 − (y/K )] t = − ln 0 . r (y/K )[1 − (y0 /K )]
(13)
Using the given values of r and y0 /K and setting y/K = 0.75, we find that τ =− 6
1 (0.25)(0.25) 1 ln = ln 9 ∼ = 3.095 years. 0.71 (0.75)(0.75) 0.71
A good source of information on the population dynamics and economics involved in making efficient use of a renewable resource, with particular emphasis on fisheries, is the book by Clark (see the references at the end of this chapter). The parameter values used here are given on page 53 of this book and were obtained as a result of a study by M. S. Mohring.
81
2.5 Autonomous Equations and Population Dynamics
The graphs of y/K versus t for the given parameter values and for several initial conditions are shown in Figure 2.5.5. A Critical Threshold.
We now turn to a consideration of the equation y dy = −r 1 − y, (14) dt T where r and T are given positive constants. Observe that (except for replacing the parameter K by T ) this equation differs from the logistic equation (7) only in the presence of the minus sign on the right side. However, as we will see, the solutions of Eq. (14) behave very differently from those of Eq. (7). For Eq. (14) the graph of f (y) versus y is the parabola shown in Figure 2.5.6. The intercepts on the y-axis are the critical points y = 0 and y = T , corresponding to the equilibrium solutions φ1 (t) = 0 and φ2 (t) = T . If 0 < y < T , then dy/dt < 0, and y decreases as t increases. On the other hand, if y > T , then dy/dt > 0, and y grows as t increases. Thus φ1 (t) = 0 is an asymptotically stable equilibrium solution and φ2 (t) = T is an unstable one. Further, f (y) is negative for 0 < y < T /2 and positive for T /2 < y < T , so the graph of y versus t is concave up and concave down, respectively, in these intervals. Also, f (y) is positive for y > T , so the graph of y versus t is also concave up there. By making use of all of the information that we have obtained from Figure 2.5.6, we conclude that graphs of solutions of Eq. (14) for different values of y0 must have the qualitative appearance shown in Figure 2.5.7. From this figure it is clear that as time increases, y either approaches zero or grows without bound, depending on whether the initial value y0 is less than or greater than T . Thus T is a threshold level, below which growth does not occur. We can confirm the conclusions that we have reached through geometric reasoning by solving the differential equation (14). This can be done by separating the variables and integrating, just as we did for Eq. (7). However, if we note that Eq. (14) can be obtained from Eq. (7) by replacing K by T and r by −r , then we can make the same substitutions in the solution (11) and thereby obtain y=
y0 T , y0 + (T − y0 )er t
(15)
which is the solution of Eq. (14) subject to the initial condition y(0) = y0 . f ( y)
T /2
T
y
–rT /4 (T/2, –rT /4)
FIGURE 2.5.6
f (y) versus y for dy/dt = −r (1 − y/T )y.
82
Chapter 2. First Order Differential Equations y
φ 2(t) = T
T
T /2 φ 1(t) = 0
t
FIGURE 2.5.7
y versus t for dy/dt = −r (1 − y/T )y.
If y0 < T , then it follows from Eq. (15) that y → 0 as t → ∞. This agrees with our qualitative geometric analysis. If y0 > T , then the denominator on the right side of Eq. (15) is zero for a certain finite value of t. We denote this value by t ∗ , and calculate it from ∗
y0 − (y0 − T )er t = 0, which gives t∗ =
y0 1 ln . r y0 − T
(16)
Thus, if the initial population y0 is above the threshold T , the threshold model predicts that the graph of y versus t has a vertical asymptote at t = t ∗ ; in other words, the population becomes unbounded in a finite time, which depends on the initial value y0 and the threshold value T . The existence and location of this asymptote were not apparent from the geometric analysis, so in this case the explicit solution yields additional important qualitative, as well as quantitative, information. The populations of some species exhibit the threshold phenomenon. If too few are present, the species cannot propagate itself successfully and the population becomes extinct. However, if a population larger than the threshold level can be brought together, then further growth occurs. Of course, the population cannot become unbounded, so eventually Eq. (14) must be modified to take this into account. Critical thresholds also occur in other circumstances. For example, in fluid mechanics, equations of the form (7) or (14) often govern the evolution of a small disturbance y in a laminar (or smooth) fluid flow. For instance, if Eq. (14) holds and y < T , then the disturbance is damped out and the laminar flow persists. However, if y > T , then the disturbance grows larger and the laminar flow breaks up into a turbulent one. In this case T is referred to as the critical amplitude. Experimenters speak of keeping the disturbance level in a wind tunnel sufficiently low so that they can study laminar flow over an airfoil, for example. The same type of situation can occur with automatic control devices. For example, suppose that y corresponds to the position of a flap on an airplane wing that is regulated by an automatic control. The desired position is y = 0. In the normal motion of the
83
2.5 Autonomous Equations and Population Dynamics
plane the changing aerodynamic forces on the flap will cause it to move from its set position, but then the automatic control will come into action to damp out the small deviation and return the flap to its desired position. However, if the airplane is caught in a high gust of wind, the flap may be deflected so much that the automatic control cannot bring it back to the set position (this would correspond to a deviation greater than T ). Presumably, the pilot would then take control and manually override the automatic system! Logistic Growth with a Threshold. As we mentioned in the last subsection, the threshold model (14) may need to be modified so that unbounded growth does not occur when y is above the threshold T . The simplest way to do this is to introduce another factor that will have the effect of making dy/dt negative when y is large. Thus we consider y y dy = −r 1 − 1− y, (17) dt T K where r > 0 and 0 < T < K . The graph of f (y) versus y is shown in Figure 2.5.8. In this problem there are three critical points: y = 0, y = T , and y = K , corresponding to the equilibrium solutions φ1 (t) = 0, φ2 (t) = T , and φ3 (t) = K , respectively. From Figure 2.5.8 it is clear that dy/dt > 0 for T < y < K , and consequently y is increasing there. The reverse is true for y < T and for y > K . Consequently, the equilibrium solutions φ1 (t) and φ3 (t) are asymptotically stable, and the solution φ2 (t) is unstable. Graphs of y versus t have the qualitative appearance shown in Figure 2.5.9. If y starts below the threshold T , then y declines to ultimate extinction. On the other hand, if y starts above T , then y eventually approaches the carrying capacity K . The inflection points on the graphs of y versus t in Figure 2.5.9 correspond to the maximum and minimum points, y1 and y2 , respectively, on the graph of f (y) versus y in Figure 2.5.8. These values can be obtained by differentiating the right side of Eq. (17) with respect to y, setting the result equal to zero, and solving for y. We obtain (18) y1,2 = (K + T ± K 2 − K T + T 2 )/3, where the plus sign yields y1 and the minus sign y2 . A model of this general sort apparently describes the population of the passenger pigeon,7 which was present in the United States in vast numbers until late in the nineteenth century. It was heavily hunted for food and for sport, and consequently its f ( y)
y2
FIGURE 2.5.8 7
T
y1
K
y
f (y) versus y for dy/dt = −r (1 − y/T )(1 − y/K )y.
See, for example, Oliver L. Austin, Jr., Birds of the World (New York: Golden Press, 1983), pp. 143–145.
84
Chapter 2. First Order Differential Equations y
φ 3(t) = K K
y1
φ2(t) = T T y2
φ 1(t) = 0 t
FIGURE 2.5.9
y versus t for dy/dt = −r (1 − y/T )(1 − y/K )y.
numbers were drastically reduced by the 1880s. Unfortunately, the passenger pigeon could apparently breed successfully only when present in a large concentration, corresponding to a relatively high threshold T . Although a reasonably large number of individual birds remained alive in the late 1880s, there were not enough in any one place to permit successful breeding, and the population rapidly declined to extinction. The last survivor died in 1914. The precipitous decline in the passenger pigeon population from huge numbers to extinction in scarcely more than three decades was one of the early factors contributing to a concern for conservation in this country.
PROBLEMS
Problems 1 through 6 involve equations of the form dy/dt = f (y). In each problem sketch the graph of f (y) versus y, determine the critical (equilibrium) points, and classify each one as asymptotically stable or unstable. a > 0, b > 0, y0 ≥ 0 1. dy/dt = ay + by 2 , a > 0, b > 0, −∞ < y0 < ∞ 2. dy/dt = ay + by 2 , 3. dy/dt = y(y − 1)(y − 2), y0 ≥ 0 4. dy/dt = e y − 1, −∞ < y0 < ∞ −∞ < y0 < ∞ 5. dy/dt = e−y − 1, 6. dy/dt = −2(arctan y)/(1 + y 2 ), −∞ < y0 < ∞ 7. Semistable Equilibrium Solutions. Sometimes a constant equilibrium solution has the property that solutions lying on one side of the equilibrium solution tend to approach it, whereas solutions lying on the other side depart from it (see Figure 2.5.10). In this case the equilibrium solution is said to be semistable. (a) Consider the equation dy/dt = k(1 − y)2 ,
(i)
where k is a positive constant. Show that y = 1 is the only critical point, with the corresponding equilibrium solution φ(t) = 1. (b) Sketch f (y) versus y. Show that y is increasing as a function of t for y < 1 and also for y > 1. Thus solutions below the equilibrium solution approach it, while those above it grow farther away. Therefore φ(t) = 1 is semistable.
85
2.5 Autonomous Equations and Population Dynamics y
y
φ (t) = k k
k
φ (t) = k
(a)
t
(b)
t
FIGURE 2.5.10 In both cases the equilibrium solution φ(t) = k is semistable. (a) dy/dt ≤ 0; (b) dy/dt ≥ 0.
(c) Solve Eq. (i) subject to the initial condition y(0) = y0 and confirm the conclusions reached in part (b). Problems 8 through 13 involve equations of the form dy/dt = f (y). In each problem sketch the graph of f (y) versus y, determine the critical (equilibrium) points, and classify each one as asymptotically stable, unstable, or semistable (see Problem 7). 8. 9. 10. 11. 12. 13.
dy/dt dy/dt dy/dt dy/dt dy/dt dy/dt
= −k(y − 1)2 , = y 2 (y 2 − 1), = y(1 − y 2 ), √ = ay − b y, = y 2 (4 − y 2 ), = y 2 (1 − y)2 ,
k > 0, −∞ < y0 < ∞ −∞ < y0 < ∞ −∞ < y0 < ∞ a > 0, b > 0, y0 ≥ 0 −∞ < y0 < ∞ −∞ < y0 < ∞
14. Consider the equation dy/dt = f (y) and suppose that y1 is a critical point, that is, f (y1 ) = 0. Show that the constant equilibrium solution φ(t) = y1 is asymptotically stable if f (y1 ) < 0 and unstable if f (y1 ) > 0. 15. Suppose that a certain population obeys the logistic equation dy/dt = r y[1 − (y/K )]. (a) If y0 = K /3, find the time τ at which the initial population has doubled. Find the value of τ corresponding to r = 0.025 per year. (b) If y0 /K = α, find the time T at which y(T )/K = β, where 0 < α, β < 1. Observe that T → ∞ as α → 0 or as β → 1. Find the value of T for r = 0.025 per year, α = 0.1, and β = 0.9. 16. Another equation that has been used to model population growth is the Gompertz equation: dy/dt = r y ln(K /y), where r and K are positive constants. (a) Sketch the graph of f (y) versus y, find the critical points, and determine whether each is asymptotically stable or unstable. (b) For 0 ≤ y ≤ K determine where the graph of y versus t is concave up and where it is concave down. (c) For each y in 0 < y ≤ K show that dy/dt as given by the Gompertz equation is never less than dy/dt as given by the logistic equation. 17. (a) Solve the Gompertz equation dy/dt = r y ln(K /y), subject to the initial condition y(0) = y0 . Hint: You may wish to let u = ln(y/K ).
86
Chapter 2. First Order Differential Equations
(b) For the data given in Example 1 in the text [r = 0.71 per year, K = 80.5 × 106 kg, y0 /K = 0.25], use the Gompertz model to find the predicted value of y(2). (c) For the same data as in part (b), use the Gompertz model to find the time τ at which y(τ ) = 0.75K . 18. A pond forms as water collects in a conical depression of radius a and depth h. Suppose that water flows in at a constant rate k and is lost through evaporation at a rate proportional to the surface area. (a) Show that the volume V (t) of water in the pond at time t satisfies the differential equation d V /dt = k − απ(3a/π h)2/3 V 2/3 , where α is the coefficient of evaporation. (b) Find the equilibrium depth of water in the pond. Is the equilibrium asymptotically stable? (c) Find a condition that must be satisfied if the pond is not to overflow. 19. Consider a cylindrical water tank of constant cross section A. Water is pumped into the tank at a constant rate k and leaks out through a small hole of area a in the bottom of the tank. From Torricelli’s theorem √ in hydrodynamics it follows that the rate at which water flows through the hole is αa 2gh, where h is the current depth of water in the tank, g is the acceleration due to gravity, and α is a contraction coefficient that satisfies 0.5 ≤ α ≤ 1.0. (a) Show that the depth of water in the tank at any time satisfies the equation dh/dt = (k − αa 2gh )/A. (b) Determine the equilibrium depth h e of water and show that it is asymptotically stable. Observe that h e does not depend on A. Harvesting a Renewable Resource. Suppose that the population y of a certain species of fish (for example, tuna or halibut) in a given area of the ocean is described by the logistic equation dy/dt = r (1 − y/K )y. While it is desirable to utilize this source of food, it is intuitively clear that if too many fish are caught, then the fish population may be reduced below a useful level, and possibly even driven to extinction. Problems 20 and 21 explore some of the questions involved in formulating a rational strategy for managing the fishery.8 20. At a given level of effort, it is reasonable to assume that the rate at which fish are caught depends on the population y: The more fish there are, the easier it is to catch them. Thus we assume that the rate at which fish are caught is given by E y, where E is a positive constant, with units of 1/time, that measures the total effort made to harvest the given species of fish. To include this effect, the logistic equation is replaced by dy/dt = r (1 − y/K )y − E y.
(i)
This equation is known as the Schaefer model after the biologist, M. B. Schaefer, who applied it to fish populations. (a) Show that if E < r , then there are two equilibrium points, y1 = 0 and y2 = K (1 − E/r ) > 0. (b) Show that y = y1 is unstable and y = y2 is asymptotically stable. 8
An excellent treatment of this kind of problem, which goes far beyond what is outlined here, may be found in the book by Clark mentioned previously, especially in the first two chapters. Numerous additional references are given there.
87
2.5 Autonomous Equations and Population Dynamics
(c) A sustainable yield Y of the fishery is a rate at which fish can be caught indefinitely. It is the product of the effort E and the asymptotically stable population y2 . Find Y as a function of the effort E; the graph of this function is known as the yield-effort curve. (d) Determine E so as to maximize Y and thereby find the maximum sustainable yield Ym . 21. In this problem we assume that fish are caught at a constant rate h independent of the size of the fish population. Then y satisfies dy/dt = r (1 − y/K )y − h.
(i)
The assumption of a constant catch rate h may be reasonable when y is large, but becomes less so when y is small. (a) If h < r K /4, show that Eq. (i) has two equilibrium points y1 and y2 with y1 < y2 ; determine these points. (b) Show that y1 is unstable and y2 is asymptotically stable. (c) From a plot of f (y) versus y show that if the initial population y0 > y1 , then y → y2 as t → ∞, but that if y0 < y1 , then y decreases as t increases. Note that y = 0 is not an equilibrium point, so if y0 < y1 , then extinction will be reached in a finite time. (d) If h > r K /4, show that y decreases to zero as t increases regardless of the value of y0 . (e) If h = r K /4, show that there is a single equilibrium point y = K /2 and that this point is semistable (see Problem 7). Thus the maximum sustainable yield is h m = r K /4, corresponding to the equilibrium value y = K /2. Observe that h m has the same value as Ym in Problem 20(d). The fishery is considered to be overexploited if y is reduced to a level below K /2. Epidemics. The use of mathematical methods to study the spread of contagious diseases goes back at least to some work by Daniel Bernoulli in 1760 on smallpox. In more recent years many mathematical models have been proposed and studied for many different diseases.9 Problems 22 through 24 deal with a few of the simpler models and the conclusions that can be drawn from them. Similar models have also been used to describe the spread of rumors and of consumer products. 22. Suppose that a given population can be divided into two parts: those who have a given disease and can infect others, and those who do not have it but are susceptible. Let x be the proportion of susceptible individuals and y the proportion of infectious individuals; then x + y = 1. Assume that the disease spreads by contact between sick and well members of the population, and that the rate of spread dy/dt is proportional to the number of such contacts. Further, assume that members of both groups move about freely among each other, so the number of contacts is proportional to the product of x and y. Since x = 1 − y, we obtain the initial value problem dy/dt = αy(1 − y),
y(0) = y0 ,
(i)
where α is a positive proportionality factor, and y0 is the initial proportion of infectious individuals. (a) Find the equilibrium points for the differential equation (i) and determine whether each is asymptotically stable, semistable, or unstable. (b) Solve the initial value problem (i) and verify that the conclusions you reached in part (a) are correct. Show that y(t) → 1 as t → ∞, which means that ultimately the disease spreads through the entire population. 23. Some diseases (such as typhoid fever) are spread largely by carriers, individuals who can transmit the disease, but who exhibit no overt symptoms. Let x and y, respectively, denote 9
A standard source is the book by Bailey listed in the references. The models in Problems 22 through 24 are discussed by Bailey in Chapters 5, 10, and 20, respectively.
88
Chapter 2. First Order Differential Equations
the proportion of susceptibles and carriers in the population. Suppose that carriers are identified and removed from the population at a rate β, so dy/dt = −βy.
(i)
Suppose also that the disease spreads at a rate proportional to the product of x and y; thus d x/dt = αx y.
(ii)
(a) Determine y at any time t by solving Eq. (i) subject to the initial condition y(0) = y0 . (b) Use the result of part (a) to find x at any time t by solving Eq. (ii) subject to the initial condition x(0) = x0 . (c) Find the proportion of the population that escapes the epidemic by finding the limiting value of x as t → ∞. 24. Daniel Bernoulli’s work in 1760 had the goal of appraising the effectiveness of a controversial inoculation program against smallpox, which at that time was a major threat to public health. His model applies equally well to any other disease that, once contracted and survived, confers a lifetime immunity. Consider the cohort of individuals born in a given year (t = 0), and let n(t) be the number of these individuals surviving t years later. Let x(t) be the number of members of this cohort who have not had smallpox by year t, and who are therefore still susceptible. Let β be the rate at which susceptibles contract smallpox, and let ν be the rate at which people who contract smallpox die from the disease. Finally, let µ(t) be the death rate from all causes other than smallpox. Then d x/dt, the rate at which the number of susceptibles declines, is given by d x/dt = −[β + µ(t)]x;
(i)
the first term on the right side of Eq. (i) is the rate at which susceptibles contract smallpox, while the second term is the rate at which they die from all other causes. Also dn/dt = −νβx − µ(t)n,
(ii)
where dn/dt is the death rate of the entire cohort, and the two terms on the right side are the death rates due to smallpox and to all other causes, respectively. (a) Let z = x/n and show that z satisfies the initial value problem dz/dt = −βz(1 − νz),
z(0) = 1.
(iii)
Observe that the initial value problem (iii) does not depend on µ(t). (b) Find z(t) by solving Eq. (iii). (c) Bernoulli estimated that ν = β = 18 . Using these values, determine the proportion of 20-year-olds who have not had smallpox. Note: Based on the model just described and using the best mortality data available at the time, Bernoulli calculated that if deaths due to smallpox could be eliminated (ν = 0), then approximately 3 years could be added to the average life expectancy (in 1760) of 26 years 7 months. He therefore supported the inoculation program. 25. Bifurcation Points. In many physical problems some observable quantity, such as a velocity, waveform, or chemical reaction, depends on a parameter describing the physical state. As this parameter is increased, a critical value is reached at which the velocity, or waveform, or reaction suddenly changes its character. For example, as the amount of one of the chemicals in a certain mixture is increased, spiral wave patterns of varying color
89
2.6 Exact Equations and Integrating Factors
suddenly emerge in an originally quiescent fluid. In many such cases the mathematical analysis ultimately leads to an equation10 of the form d x/dt = (R − Rc )x − ax 3 .
(i)
Here a and Rc are positive constants, and R is a parameter that may take on various values. For example, R may measure the amount of a certain chemical and x may measure a chemical reaction. (a) If R < Rc , show that there is only one equilibrium solution x = 0 and that it is asymptotically stable. (b) If R > Rc , show that there are three equilibrium solutions, x = 0 and x = ± (R − Rc )/a, and that the first solution is unstable while the other two are asymptotically stable. (c) Draw a graph in the Rx-plane showing all equilibrium solutions and label each one as asymptotically stable or unstable. The point R = Rc is called a bifurcation point. For R < Rc one observes the asymptotically stable equilibrium solution x = 0. However, this solution loses its stability as R and for R > Rc the asymptotically stable (and hence the passes through the value Rc , observable) solutions are x = (R − Rc )/a and x = − (R − Rc )/a. Because of the way in which the solutions branch at Rc , this type of bifurcation is called a pitchfork bifurcation; your sketch should suggest that this name is appropriate. 26. Chemical Reactions. A second order chemical reaction involves the interaction (collision) of one molecule of a substance P with one molecule of a substance Q to produce one molecule of a new substance X ; this is denoted by P + Q → X . Suppose that p and q, where p = q, are the initial concentrations of P and Q, respectively, and let x(t) be the concentration of X at time t. Then p − x(t) and q − x(t) are the concentrations of P and Q at time t, and the rate at which the reaction occurs is given by the equation d x/dt = α( p − x)(q − x),
(i)
where α is a positive constant. (a) If x(0) = 0, determine the limiting value of x(t) as t → ∞ without solving the differential equation. Then solve the initial value problem and find x(t) for any t. (b) If the substances P and Q are the same, then p = q and Eq. (i) is replaced by d x/dt = α( p − x)2 .
(ii)
If x(0) = 0, determine the limiting value of x(t) as t → ∞ without solving the differential equation. Then solve the initial value problem and determine x(t) for any t.
2.6 Exact Equations and Integrating Factors For first order equations there are a number of integration methods that are applicable to various classes of problems. The most important of these are linear equations and separable equations, which we have discussed previously. Here, we consider a class of 10 In fluid mechanics Eq. (i) arises in the study of the transition from laminar to turbulent flow; there it is often called the Landau equation. L. D. Landau (1908 –1968) was a Russian physicist who received the Nobel prize in 1962 for his contributions to the understanding of condensed states, particularly liquid helium. He was also the coauthor, with E. M. Lifschitz, of a well-known series of physics textbooks.
90
Chapter 2. First Order Differential Equations
equations known as exact equations for which there is also a well-defined method of solution. Keep in mind, however, that those first order equations that can be solved by elementary integration methods are rather special; most first order equations cannot be solved in this way. Solve the differential equation EXAMPLE
2x + y 2 + 2x yy = 0.
1
(1)
The equation is neither linear nor separable, so the methods suitable for those types of equations are not applicable here. However, observe that the function ψ(x, y) = x 2 + x y 2 has the property that ∂ψ ∂ψ , 2x y = . ∂x ∂y Therefore the differential equation can be written as 2x + y 2 =
(2)
∂ψ dy ∂ψ + = 0. (3) ∂x ∂ y dx Assuming that y is a function of x and calling upon the chain rule, we can write Eq. (3) in the equivalent form d 2 dψ = (x + x y 2 ) = 0. dx dx
(4)
ψ(x, y) = x 2 + x y 2 = c,
(5)
Therefore where c is an arbitrary constant, is an equation that defines solutions of Eq. (1) implicitly. In solving Eq. (1) the key step was the recognition that there is a function ψ that satisfies Eq. (2). More generally, let the differential equation M(x, y) + N (x, y)y = 0
(6)
be given. Suppose that we can identify a function ψ such that ∂ψ (x, y) = M(x, y), ∂x
∂ψ (x, y) = N (x, y), ∂y
(7)
and such that ψ(x, y) = c defines y = φ(x) implicitly as a differentiable function of x. Then ∂ψ dy d ∂ψ + = ψ[x, φ(x)] M(x, y) + N (x, y)y = ∂x ∂ y dx dx and the differential equation (6) becomes d ψ[x, φ(x)] = 0. (8) dx In this case Eq. (6) is said to be an exact differential equation. Solutions of Eq. (6), or the equivalent Eq. (8), are given implicitly by ψ(x, y) = c, where c is an arbitrary constant.
(9)
91
2.6 Exact Equations and Integrating Factors
In Example 1 it was relatively easy to see that the differential equation was exact and, in fact, easy to find its solution, by recognizing the required function ψ. For more complicated equations it may not be possible to do this so easily. A systematic way of determining whether a given differential equation is exact is provided by the following theorem.
Theorem 2.6.1
Let the functions M, N , M y , and N x , where subscripts denote partial derivatives, be continuous in the rectangular11 region R: α < x < β, γ < y < δ. Then Eq. (6), M(x, y) + N (x, y)y = 0, is an exact differential equation in R if and only if M y (x, y) = N x (x, y)
(10)
at each point of R. That is, there exists a function ψ satisfying Eqs. (7), ψx (x, y) = M(x, y),
ψ y (x, y) = N (x, y),
if and only if M and N satisfy Eq. (10). The proof of this theorem has two parts. First, we show that if there is a function ψ such that Eqs. (7) are true, then it follows that Eq. (10) is satisfied. Computing M y and N x from Eqs. (7), we obtain M y (x, y) = ψx y (x, y),
N x (x, y) = ψ yx (x, y).
(11)
Since M y and N x are continuous, it follows that ψx y and ψ yx are also continuous. This guarantees their equality, and Eq. (10) follows. We now show that if M and N satisfy Eq. (10), then Eq. (6) is exact. The proof involves the construction of a function ψ satisfying Eqs. (7), ψx (x, y) = M(x, y),
ψ y (x, y) = N (x, y).
Integrating the first of Eqs. (7) with respect to x, holding y constant, we find that ψ(x, y) = M(x, y) dx + h(y). (12) The function h is an arbitrary function of y, playing the role of the arbitrary constant. Now we must show that it is always possible to choose h(y) so that ψ y = N . From Eq. (12) ∂ M(x, y) dx + h (y) ψ y (x, y) = ∂y = M y (x, y) dx + h (y). 11
It is not essential that the region be rectangular, only that it be simply connected. In two dimensions this means that the region has no holes in its interior. Thus, for example, rectangular or circular regions are simply connected, but an annular region is not. More details can be found in most books on advanced calculus.
92
Chapter 2. First Order Differential Equations
Setting ψ y = N and solving for h (y), we obtain h (y) = N (x, y) − M y (x, y) dx.
(13)
To determine h(y) from Eq. (13), it is essential that, despite its appearance, the right side of Eq. (13) be a function of y only. To establish this fact, we can differentiate the quantity in question with respect to x, obtaining N x (x, y) − M y (x, y), which is zero on account of Eq. (10). Hence, despite its apparent form, the right side of Eq. (13) does not, in fact, depend on x, and a single integration then gives h(y). Substituting for h(y) in Eq. (12), we obtain as the solution of Eqs. (7) (14) ψ(x, y) = M(x, y) dx + N (x, y) − M y (x, y) dx dy. It should be noted that this proof contains a method for the computation of ψ(x, y) and thus for solving the original differential equation (6). It is usually better to go through this process each time it is needed rather than to try to remember the result given in Eq. (14). Note also that the solution is obtained in implicit form; it may or may not be feasible to find the solution explicitly.
Solve the differential equation EXAMPLE
2
(y cos x + 2xe y ) + (sin x + x 2 e y − 1)y = 0.
(15)
It is easy to see that M y (x, y) = cos x + 2xe y = N x (x, y), so the given equation is exact. Thus there is a ψ(x, y) such that ψx (x, y) = y cos x + 2xe y , ψ y (x, y) = sin x + x 2 e y − 1. Integrating the first of these equations, we obtain ψ(x, y) = y sin x + x 2 e y + h(y).
(16)
Setting ψ y = N gives ψ y (x, y) = sin x + x 2 e y + h (y) = sin x + x 2 e y − 1. Thus h (y) = −1 and h(y) = −y. The constant of integration can be omitted since any solution of the preceding differential equation is satisfactory; we do not require the most general one. Substituting for h(y) in Eq. (16) gives ψ(x, y) = y sin x + x 2 e y − y. Hence solutions of Eq. (15) are given implicitly by y sin x + x 2 e y − y = c.
(17)
93
2.6 Exact Equations and Integrating Factors
Solve the differential equation EXAMPLE
(3x y + y 2 ) + (x 2 + x y)y = 0.
3
(18)
Here, M y (x, y) = 3x + 2y,
N x (x, y) = 2x + y;
since M y = N x , the given equation is not exact. To see that it cannot be solved by the procedure described previously, let us seek a function ψ such that ψx (x, y) = 3x y + y 2 ,
ψ y (x, y) = x 2 + x y.
(19)
Integrating the first of Eqs. (19) gives ψ(x,y) = 32 x 2 y + x y 2 + h(y),
(20)
where h is an arbitrary function of y only. To try to satisfy the second of Eqs. (19) we compute ψ y from Eq. (20) and set it equal to N , obtaining 3 2 x 2
+ 2x y + h (y) = x 2 + x y
or h (y) = − 12 x 2 − x y.
(21)
Since the right side of Eq. (21) depends on x as well as y, it is impossible to solve Eq. (21) for h(y). Thus there is no ψ(x, y) satisfying both of Eqs. (19). Integrating Factors. It is sometimes possible to convert a differential equation that is not exact into an exact equation by multiplying the equation by a suitable integrating factor. Recall that this is the procedure that we used in solving linear equations in Section 2.1. To investigate the possibility of implementing this idea more generally, let us multiply the equation M(x, y) dx + N (x, y) dy = 0
(22)
by a function µ and then try to choose µ so that the resulting equation µ(x, y)M(x, y) dx + µ(x, y)N (x, y) dy = 0
(23)
is exact. By Theorem 2.6.1 Eq. (23) is exact if and only if (µM) y = (µN )x .
(24)
Since M and N are given functions, Eq. (24) states that the integrating factor µ must satisfy the first order partial differential equation Mµ y − N µx + (M y − N x )µ = 0.
(25)
If a function µ satisfying Eq. (25) can be found, then Eq. (23) will be exact. The solution of Eq. (23) can then be obtained by the method described in the first part of this section. The solution found in this way also satisfies Eq. (22), since the integrating factor µ can be canceled out of Eq. (23). A partial differential equation of the form (25) may have more than one solution; if this is the case, any such solution may be used as an integrating factor of Eq. (22). This possible nonuniqueness of the integrating factor is illustrated in Example 4.
94
Chapter 2. First Order Differential Equations
Unfortunately, Eq. (25), which determines the integrating factor µ, is ordinarily at least as difficult to solve as the original equation (22). Therefore, while in principle integrating factors are powerful tools for solving differential equations, in practice they can be found only in special cases. The most important situations in which simple integrating factors can be found occur when µ is a function of only one of the variables x or y, instead of both. Let us determine necessary conditions on M and N so that Eq. (22) has an integrating factor µ that depends on x only. Assuming that µ is a function of x only, we have (µM) y = µM y ,
(µN )x = µN x + N
dµ . dx
Thus, if (µM) y is to equal (µN )x , it is necessary that M y − Nx dµ = µ. (26) dx N If (M y − N x )/N is a function of x only, then there is an integrating factor µ that also depends only on x; further, µ(x) can be found by solving Eq. (26), which is both linear and separable. A similar procedure can be used to determine a condition under which Eq. (22) has an integrating factor depending only on y; see Problem 23.
Find an integrating factor for the equation EXAMPLE
(3x y + y 2 ) + (x 2 + x y)y = 0
4
(18)
and then solve the equation. In Example 3 we showed that this equation is not exact. Let us determine whether it has an integrating factor that depends on x only. On computing the quantity (M y − N x )/N , we find that M y (x, y) − N x (x, y) N (x, y)
=
1 3x + 2y − (2x + y) = . 2 x x + xy
(27)
Thus there is an integrating factor µ that is a function of x only, and it satisfies the differential equation dµ µ = . dx x
(28)
µ(x) = x.
(29)
Hence
Multiplying Eq. (18) by this integrating factor, we obtain (3x 2 y + x y 2 ) + (x 3 + x 2 y)y = 0.
(30)
The latter equation is exact and it is easy to show that its solutions are given implicitly by x 3 y + 12 x 2 y 2 = c.
(31)
Solutions may also be readily found in explicit form since Eq. (31) is quadratic in y.
95
2.6 Exact Equations and Integrating Factors
You may also verify that a second integrating factor of Eq. (18) is µ(x, y) =
1 , x y(2x + y)
and that the same solution is obtained, though with much greater difficulty, if this integrating factor is used (see Problem 32).
PROBLEMS
Determine whether or not each of the equations in Problems 1 through 12 is exact. If it is exact, find the solution. 2. (2x + 4y) + (2x − 2y)y = 0 1. (2x + 3) + (2y − 2)y = 0 2 2 2 3. (3x − 2x y + 2) d x + (6y − x + 3) dy = 0 4. (2x y 2 + 2y) + (2x 2 y + 2x)y = 0 ax + by dy ax − by dy =− 6. =− 5. dx bx + cy dx bx − cy 7. (e x sin y − 2y sin x) d x + (e x cos y + 2 cos x) dy = 0 8. (e x sin y + 3y) d x − (3x − e x sin y) dy = 0 9. (ye x y cos 2x − 2e x y sin 2x + 2x) d x + (xe x y cos 2x − 3) dy = 0 10. (y/x + 6x) d x + (ln x − 2) dy = 0, x >0 11. (x ln y + x y) d x + (y ln x + x y) dy = 0; x > 0, y > 0 x dx y dy 12. + 2 =0 (x 2 + y 2 )3/2 (x + y 2 )3/2 In each of Problems 13 and 14 solve the given initial value problem and determine at least approximately where the solution is valid. 13. (2x − y) d x + (2y − x) dy = 0, y(1) = 3 14. (9x 2 + y − 1) d x − (4y − x) dy = 0, y(1) = 0 In each of Problems 15 and 16 find the value of b for which the given equation is exact and then solve it using that value of b. 15. (x y 2 + bx 2 y) d x + (x + y)x 2 dy = 0 16. (ye2x y + x) d x + bxe2x y dy = 0 17. Consider the exact differential equation M(x, y) d x + N (x, y) dy = 0. Find an implicit formula ψ(x, y) = c for the solution analogous to Eq. (14) by first integrating the equation ψ y = N , rather than ψx = M, as in the text. 18. Show that any separable equation, M(x) + N (y)y = 0, is also exact. Show that the equations in Problems 19 through 22 are not exact, but become exact when multiplied by the given integrating factor. Then solve the equations. 19. x 2 y 3 + x(1 + y 2 )y = 0, µ(x, y) = 1/x y 3
sin y cos y + 2e−x cos x 20. − 2e−x sin x d x + dy = 0, y y 21. y d x + (2x − ye y ) dy = 0, µ(x, y) = y 22. (x + 2) sin y d x + x cos y dy = 0, µ(x, y) = xe x
µ(x, y) = ye x
96
Chapter 2. First Order Differential Equations
23. Show that if (N x − M y )/M = Q, where Q is a function of y only, then the differential equation M + N y = 0 has an integrating factor of the form
µ(y) = exp
Q(y) dy.
24. Show that if (N x − M y )/(x M − y N ) = R, where R depends on the quantity x y only, then the differential equation M + N y = 0 has an integrating factor of the form µ(x y). Find a general formula for this integrating factor. In each of Problems 25 through 31 find an integrating factor and solve the given equation. (3x 2 y + 2x y + y 3 ) d x + (x 2 + y 2 ) dy = 0 y = e2x + y − 1 d x + (x/y − sin y) dy = 0 y d x + (2x y − e−2y ) dy = 0 e x d x + (e x cot y + 2y csc y) dy = 0 [4(x 3 /y 2 ) + (3/y)] d x + [3(x/y 2 ) + 4y] dy = 0
2 6 x y dy 31. 3x + + +3 =0 y y x dx 25. 26. 27. 28. 29. 30.
Hint: See Problem 24. 32. Solve the differential equation (3x y + y 2 ) + (x 2 + x y)y = 0 using the integrating factor µ(x, y) = [x y(2x + y)]−1 . Verify that the solution is the same as that obtained in Example 4 with a different integrating factor.
2.7 Numerical Approximations: Euler’s Method Recall two important facts about the first order initial value problem dy (1) = f (t, y), y(t0 ) = y0 . dt First, if f and ∂ f /∂ y are continuous, then the initial value problem (1) has a unique solution y = φ(t) in some interval surrounding the initial point t = t0 . Second, it is usually not possible to find the solution φ by symbolic manipulations of the differential equation. Up to now we have considered the main exceptions to this statement, namely, differential equations that are linear, separable, or exact, or that can be transformed into one of these types. Nevertheless, it remains true that solutions of the vast majority of first order initial value problems cannot be found by analytical means such as those considered in the first part of this chapter.
97
2.7 Numerical Approximations: Euler’s Method
Therefore it is important to be able to approach the problem in other ways. As we have already seen, one of these ways is to draw a direction field for the differential equation (which does not involve solving the equation) and then to visualize the behavior of solutions from the direction field. This has the advantage of being a relatively simple process, even for complicated differential equations. However, it does not lend itself to quantitative computations or comparisons, and this is often a critical shortcoming. Another alternative is to compute approximate values of the solution y = φ(t) of the initial value problem (1) at a selected set of t-values. Ideally, the approximate solution values will be accompanied by error bounds that assure the level of accuracy of the approximations. Today there are numerous methods that produce numerical approximations to solutions of differential equations, and Chapter 8 is devoted to a fuller discussion of some of them. Here, we introduce the oldest and simplest such method, originated by Euler about 1768. It is called the tangent line method or the Euler method. Let us consider how we might approximate the solution y = φ(t) of Eqs. (1) near t = t0 . We know that the solution passes through the initial point (t0 , y0 ) and, from the differential equation, we also know that its slope at this point is f (t0 , y0 ). Thus we can write down an equation for the line tangent to the solution curve at (t0 , y0 ), namely, y = y0 + f (t0 , y0 )(t − t0 ).
(2)
The tangent line is a good approximation to the actual solution curve on an interval short enough so that the slope of the solution does not change appreciably from its value at the initial point; see Figure 2.7.1. Thus, if t1 is close enough to t0 , we can approximate φ(t1 ) by the value y1 determined by substituting t = t1 into the tangent line approximation at t = t0 ; thus y1 = y0 + f (t0 , y0 )(t1 − t0 ).
(3)
To proceed further, we can try to repeat the process. Unfortunately, we do not know the value φ(t1 ) of the solution at t1 . The best we can do is to use the approximate value y1 instead. Thus we construct the line through (t1 , y1 ) with the slope f (t1 , y1 ), y = y1 + f (t1 , y1 )(t − t1 ).
(4)
To approximate the value of φ(t) at a nearby point t2 , we use Eq. (4) instead, obtaining y2 = y1 + f (t1 , y1 )(t2 − t1 ).
(5)
y Tangent line y = y0 + f (t0, y0) (t – t0) y1
Solution y = φ (t)
φ (t1) y0
t0
t1
FIGURE 2.7.1 A tangent line approximation.
t
98
Chapter 2. First Order Differential Equations
Continuing in this manner, we use the value of y calculated at each step to determine the slope of the approximation for the next step. The general expression for yn+1 in terms of tn , tn+1 , and yn is yn+1 = yn + f (tn , yn )(tn+1 − tn ),
n = 0, 1, 2, . . . .
(6)
If we introduce the notation f n = f (tn , yn ), then we can rewrite Eq. (6) as yn+1 = yn + f n · (tn+1 − tn ),
n = 0, 1, 2, . . . .
(7)
Finally, if we assume that there is a uniform step size h between the points t0 , t1 , t2 , . . . , then tn+1 = tn + h for each n and we obtain Euler’s formula in the form yn+1 = yn + f n h,
n = 0, 1, 2, . . . .
(8)
To use Euler’s method you simply evaluate Eq. (7) or Eq. (8) repeatedly, depending on whether or not the step size is constant, using the result of each step to execute the next step. In this way you generate a sequence of values y1 , y2 , y3 , . . . that approximate the values of the solution φ(t) at the points t1 , t2 , t3 , . . . . If, instead of a sequence of points, you need an actual function to approximate the solution φ(t), then you can use the piecewise linear function constructed from the collection of tangent line segments. That is, let y be given by Eq. (2) in [t0 , t1 ], by Eq. (4) in [t1 , t2 ], and, in general, by y = yn + f (tn , yn )(t − tn )
(9)
in [tn , tn+1 ].
Consider the initial value problem EXAMPLE
1
dy y(0) = 1. (10) = 3 + e−t − 12 y, dt Use Euler’s method with step size h = 0.1 to find approximate values of the solution of Eqs. (10) at t = 0.1, 0.2, 0.3, and 0.4. Compare them with the corresponding values of the actual solution of the initial value problem. Proceeding as in Section 2.1, we find the solution of Eqs. (10) to be y = φ(t) = 6 − 2e−t − 3e−t/2 .
(11)
To use Euler’s method we note that in this case f (t, y) = 3 + e−t − y/2. Using the initial values t0 = 0 and y0 = 1, we find that f 0 = f (t0 , y0 ) = f (0, 1) = 3 + e0 − 0.5 = 3 + 1 − 0.5 = 3.5 and then, from Eq. (8) with n = 0, y1 = y0 + f 0 h = 1 + (3.5)(0.1) = 1.35. At the next step we have f 1 = f (0.1, 1.35) = 3 + e−0.1 − (0.5)(1.35) ∼ = 3 + 0.904837 − 0.675 ∼ = 3.229837 and then y2 = y1 + f 1 h ∼ = 1.35 + (3.229837)(0.1) ∼ = 1.672984.
99
2.7 Numerical Approximations: Euler’s Method
Repeating the computation two more times, we obtain f2 ∼ = 2.982239,
y3 ∼ = 1.971208
f3 ∼ = 2.755214,
y4 ∼ = 2.246729.
and
Table 2.7.1 shows these computed values, the corresponding values of the solution (11), and the differences between the two, which is the error in the numerical approximation.
TABLE 2.7.1 A Comparison of Exact Solution with Euler Method for h = 0.1 for y = 3 + e−t − 12 y, y(0) = 1 t
Exact
Euler with h = 0.1
Error
0.0 0.1 0.2 0.3 0.4
1.0000 1.3366 1.6480 1.9362 2.2032
1.0000 1.3500 1.6730 1.9712 2.2467
0.0000 0.0134 0.0250 0.0350 0.0435
The purpose of Example 1 is to show you the details of implementing a few steps of Euler’s method so that it will be clear exactly what computations are being executed. Of course, computations such as those in Example 1 are usually done on a computer. Some software packages include code for the Euler method, while others do not. In any case, it is easy to write a computer program to carry out the calculations required to produce results such as those in Table 2.7.1. The outline of such a program is given below; the specific instructions can be written in any high-level programming language. The Euler Method Step 1. define f (t, y) Step 2. input initial values t0 and y0 Step 3. input step size h and number of steps n Step 4. output t0 and y0 Step 5. for j from 1 to n do Step 6. k1 = f (t, y) y = y + h ∗ k1 t =t +h Step 7. output t and y Step 8. end The output of this algorithm can be numbers listed on the screen or printed on a printer, as in the third column of Table 2.7.1. Alternatively, the calculated results can be displayed in graphical form.
100
Chapter 2. First Order Differential Equations
Consider again the initial value problem (10), EXAMPLE
dy = 3 + e−t − 12 y, dt
2
y(0) = 1.
Use Euler’s method with various step sizes to calculate approximate values of the solution for 0 ≤ t ≤ 5. Compare the calculated results with the corresponding values of the exact solution (11), y = φ(t) = 6 − 2e−t − 3e−t/2 . We used step sizes h = 0.1, 0.05, 0.025, and 0.01, corresponding respectively to 50, 100, 200, and 500 steps to go from t = 0 to t = 5. The results of these calculations, along with the values of the exact solution, are presented in Table 2.7.2. All computed entries are rounded to four decimal places, although more digits were retained in the intermediate calculations.
TABLE 2.7.2 A Comparison of Exact Solution with Euler Method for Several Step Sizes h for y = 3 + e−t − 12 y, y(0) = 1 t
Exact
h = 0.1
h = 0.05
h = 0.025
h = 0.01
0.0 1.0 2.0 3.0 4.0 5.0
1.0000 3.4446 4.6257 5.2310 5.5574 5.7403
1.0000 3.5175 4.7017 5.2918 5.6014 5.7707
1.0000 3.4805 4.6632 5.2612 5.5793 5.7555
1.0000 3.4624 4.6443 5.2460 5.5683 5.7479
1.0000 3.4517 4.6331 5.2370 5.5617 5.7433
What conclusions can we draw from the data in Table 2.7.2? In the first place, for a fixed value of t the computed approximate values become more accurate as the step size h decreases. This is what we would expect, of course, but it is encouraging that the data confirm our expectations. For example, for t = 1 the approximate value with h = 0.1 is too large by about 2%, while the value with h = 0.01 is too large by only 0.2%. In this case, reducing the step size by a factor of 10 (and performing 10 times as many computations) also reduces the error by a factor of about 10. A second observation from Table 2.7.2 is that, for a fixed step size h, the approximations become more accurate as t increases. For instance, for h = 0.1 the error for t = 5 is only about 0.5% compared with 2% for t = 1. An examination of data at intermediate points not recorded in Table 2.7.2 would reveal where the maximum error occurs for a given step size and how large it is. All in all, Euler’s method seems to work rather well for this problem. Reasonably good results are obtained even for a moderately large step size h = 0.1 and the approximation can be improved by decreasing h.
Let us now look at another example.
101
2.7 Numerical Approximations: Euler’s Method
Consider the initial value problem EXAMPLE
3
dy = 4 − t + 2y, y(0) = 1. (12) dt The general solution of this differential equation was found in Example 3 of Section 2.1, and the solution of the initial value problem (12) is y = − 74 + 12 t +
11 2t e . 4
(13)
Use Euler’s method with several step sizes to find approximate values of the solution on the interval 0 ≤ t ≤ 5. Compare the results with the corresponding values of the solution (13). Using the same range of step sizes as in Example 2, we obtain the results presented in Table 2.7.3.
TABLE 2.7.3 A Comparison of Exact Solution with Euler Method for Several Step Sizes h for y = 4 − t + 2y, y(0) = 1 t
Exact
h = 0.1
h = 0.05
h = 0.025
h = 0.01
0.0 1.0 2.0 3.0 4.0 5.0
1.000000 19.06990 149.3949 1109.179 8197.884 60573.53
1.000000 15.77728 104.6784 652.5349 4042.122 25026.95
1.000000 17.25062 123.7130 837.0745 5633.351 37897.43
1.000000 18.10997 135.5440 959.2580 6755.175 47555.35
1.000000 18.67278 143.5835 1045.395 7575.577 54881.32
The data in Table 2.7.3 again confirm our expectation that for a given value of t, accuracy improves as the step size h is reduced. For example, for t = 1 the percentage error diminishes from 17.3% when h = 0.1 to 2.1% when h = 0.01. However, the error increases fairly rapidly as t increases for a fixed h. Even for h = 0.01, the error at t = 5 is 9.4%, and it is much greater for larger step sizes. Of course, the accuracy that is needed depends on the purpose for which the results are intended, but the errors in Table 2.7.3 are too large for most scientific or engineering applications. To improve the situation, one might either try even smaller step sizes or else restrict the computations to a rather short interval away from the initial point. Nevertheless, it is clear that Euler’s method is much less effective in this example than in Example 2.
To understand better what is happening in these examples, let us look again at Euler’s method for the general initial value problem (1) dy = f (t, y), y(t0 ) = y0 , dt whose solution we denote by φ(t). Recall that a first order differential equation has an infinite family of solutions, indexed by an arbitrary constant c, and that the initial condition picks out one member of this infinite family by determining the value of c. Thus φ(t) is the member of the infinite family of solutions that satisfies the initial condition φ(t0 ) = y0 .
102
Chapter 2. First Order Differential Equations
At the first step Euler’s method uses the tangent line approximation to the graph of y = φ(t) passing through the initial point (t0 , y0 ) and this produces the approximate value y1 at t1 . Usually y1 = φ(t1 ), so at the second step Euler’s method uses the tangent line approximation not to y = φ(t), but to a nearby solution y = φ1 (t) that passes through the point (t1 , y1 ). So it is at each following step. Euler’s method uses a succession of tangent line approximations to a sequence of different solutions φ(t), φ1 (t), φ2 (t), . . . of the differential equation. At each step the tangent line is constructed to the solution passing through the point determined by the result of the preceding step, as shown in Figure 2.7.2. The quality of the approximation after many steps depends strongly on the behavior of the set of solutions that pass through the points (tn , yn ) for n = 1, 2, 3, . . . . In Example 2 the general solution of the differential equation is y = 6 − 2e−t + ce−t/2
(14)
and the solution of the initial value problem (10) corresponds to c = −3. This family of solutions is a converging family since the term involving the arbitrary constant c approaches zero as t → ∞. It does not matter very much which solutions we are approximating by tangent lines in the implementation of Euler’s method, since all the solutions are getting closer and closer to each other as t increases. On the other hand, in Example 3 the general solution of the differential equation is y = − 74 + 12 t + ce2t ,
(15)
and this is a diverging family. Note that solutions corresponding to two nearby values of c separate arbitrarily far as t increases. In Example 3 we are trying to follow the solution for c = 11/4, but in the use of Euler’s method we are actually at each step following another solution that separates from the desired one faster and faster as t increases. This explains why the errors in Example 3 are so much larger than those in Example 2. In using a numerical procedure such as the Euler method, one must always keep in mind the question of whether the results are accurate enough to be useful. In the preceding examples, the accuracy of the numerical results could be ascertained directly by a comparison with the solution obtained analytically. Of course, usually the analytical solution is not available if a numerical procedure is to be employed, so y y = φ 2 (t) (t2, y2) (t3, y3)
(t1, y1)
y = φ (t)
y = φ 1 (t)
y0
t0
t1
t2
t3
FIGURE 2.7.2 The Euler method.
t
103
2.7 Numerical Approximations: Euler’s Method
what is needed are bounds for, or at least estimates of, the error that do not require a knowledge of the exact solution. In Chapter 8 we present some information on the analysis of errors and also discuss several algorithms that are computationally more efficient than the Euler method. However, the best that we can expect, or hope for, from a numerical approximation is that it reflect the behavior of the actual solution. Thus a member of a diverging family of solutions will always be harder to approximate than a member of a converging family. Finally, remember that drawing a direction field is often a helpful first step in understanding the behavior of differential equations and their solutions.
PROBLEMS
Many of the problems in this section call for fairly extensive numerical computations. The amount of computing that it is reasonable for you to do depends strongly on the type of computing equipment that you have. A few steps of the requested calculations can be carried out on almost any pocket calculator, or even by hand if necessary. To do more, you will find at least a programmable calculator desirable, while for some problems a computer may be needed. Remember also that numerical results may vary somewhat depending on how your program is constructed, and how your computer executes arithmetic steps, rounds off, and so forth. Minor variations in the last decimal place may be due to such causes and do not necessarily indicate that something is amiss. Answers in the back of the book are recorded to six digits in most cases, although more digits were retained in the intermediate calculations. In each of Problems 1 through 4: (a) Find approximate values of the solution of the given initial value problem at t = 0.1, 0.2, 0.3, and 0.4 using the Euler method with h = 0.1. (b) Repeat part (a) with h = 0.05. Compare the results with those found in (a). (c) Repeat part (a) with h = 0.025. Compare the results with those found in (a) and (b). (d) Find the solution y = φ(t) of the given problem and evaluate φ(t) at t = 0.1, 0.2, 0.3, and 0.4. Compare these values with the results of (a), (b), and (c).
䉴 䉴
1. y = 3 + t − y, y(0) = 1 3. y = 0.5 − t + 2y, y(0) = 1
䉴 䉴
2. y = 2y − 1, y(0) = 1 4. y = 3 cos t − 2y, y(0) = 0
In each of Problems 5 through 10 draw a direction field for the given differential equation and state whether you think that the solutions are converging or diverging. √ 䉴 5. y = 5 − 3 y 䉴 6. y = y(3 − t y) 2 䉴 7. y = (4 − t y)/(1 + y ) 䉴 8. y = −t y + 0.1y 3 䉴 9. y = t 2 + y 2 䉴 10. y = (y 2 + 2t y)/(3 + t 2 ) In each of Problems 11 through 14 use Euler’s method to find approximate values of the solution of the given initial value problem at t = 0.5, 1, 1.5, 2, 2.5, and 3: (a) With h = 0.1. (b) With h = 0.05. (c) With h = 0.025. (d) With h = 0.01. √ y(0) = 2 䉴 11. y = 5 − 3 y, 䉴 12. y = y(3 − t y), 2 y(0) = −2 䉴 13. y = (4 − t y)/(1 + y ), 3 y(0) = 1 䉴 14. y = −t y + 0.1y ,
䉴 15. Consider the initial value problem y = 3t 2 /(3y 2 − 4),
y(1) = 0.
y(0) = 0.5
104
Chapter 2. First Order Differential Equations
(a) Use the Euler formula (6) with h = 0.1 to obtain approximate values of the solution at t = 1.2, 1.4, 1.6, and 1.8. (b) Repeat part (a) with h = 0.05. (c) Compare the results of parts (a) and (b). Note that they are reasonably close for t = 1.2, 1.4, and 1.6, but are quite different for t = 1.8. Also note (from the differential √ equation) that the line tangent to the solution is parallel to the y-axis when y = ±2/ 3 ∼ = ±1.155. Explain how this might cause such a difference in the calculated values. 䉴 16. Consider the initial value problem y = t 2 + y2,
y(0) = 1.
Use Euler’s method with h = 0.1, 0.05, 0.025, and 0.01 to explore the solution of this problem for 0 ≤ t ≤ 1. What is your best estimate of the value of the solution at t = 0.8? At t = 1? Are your results consistent with the direction field in Problem 9? 䉴 17. Consider the initial value problem y = (y 2 + 2t y)/(3 + t 2 ),
y(1) = 2.
Use Euler’s method with h = 0.1, 0.05, 0.025, and 0.01 to explore the solution of this problem for 1 ≤ t ≤ 3. What is your best estimate of the value of the solution at t = 2.5? At t = 3? Are your results consistent with the direction field in Problem 10? 䉴 18. Consider the initial value problem y = −t y + 0.1y 3 ,
y(0) = α,
where α is a given number. (a) Draw a direction field for the differential equation (or reexamine the one from Problem 8). Observe that there is a critical value of α in the interval 2 ≤ α ≤ 3 that separates converging solutions from diverging ones. Call this critical value α0 . (b) Use Euler’s method with h = 0.01 to estimate α0 . Do this by restricting α0 to an interval [a, b], where b − a = 0.01. 䉴 19. Consider the initial value problem y = y2 − t 2,
y(0) = α,
where α is a given number. (a) Draw a direction field for the differential equation. Observe that there is a critical value of α in the interval 0 ≤ α ≤ 1 that separates converging solutions from diverging ones. Call this critical value α0 . (b) Use Euler’s method with h = 0.01 to estimate α0 . Do this by restricting α0 to an interval [a, b], where b − a = 0.01. 20. Convergence of Euler’s Method. It can be shown that, under suitable conditions on f , the numerical approximation generated by the Euler method for the initial value problem y = f (t, y), y(t0 ) = y0 converges to the exact solution as the step size h decreases. This is illustrated by the following example. Consider the initial value problem y = 1 − t + y,
y(t0 ) = y0 .
(a) Show that the exact solution is y = φ(t) = (y0 − t0 )et−t0 + t. (b) Using the Euler formula, show that yk = (1 + h)yk−1 + h − htk−1 ,
k = 1, 2, . . . .
(c) Noting that y1 = (1 + h)(y0 − t0 ) + t1 , show by induction that yn = (1 + h)n (y0 − t0 ) + tn for each positive integer n.
(i)
105
2.8 The Existence and Uniqueness Theorem
(d) Consider a fixed point t > t0 and for a given n choose h = (t − t0 )/n. Then tn = t for every n. Note also that h → 0 as n → ∞. By substituting for h in Eq. (i) and letting n → ∞, show that yn → φ(t) as n → ∞. Hint: lim (1 + a/n)n = ea . n→∞
In each of Problems 21 through 23 use the technique discussed in Problem 20 to show that the approximation obtained by the Euler method converges to the exact solution at any fixed point as h → 0. y(0) = 1 21. y = y, 22. y = 2y − 1, y(0) = 1 Hint: y1 = (1 + 2h)/2 + 1/2 23. y = 12 − t + 2y, y(0) = 1 Hint: y1 = (1 + 2h) + t1 /2
2.8 The Existence and Uniqueness Theorem In this section we discuss the proof of Theorem 2.4.2, the fundamental existence and uniqueness theorem for first order initial value problems. This theorem states that under certain conditions on f (t, y), the initial value problem y = f (t, y),
y(t0 ) = y0
(1)
has a unique solution in some interval containing the point t0 . In some cases (for example, if the differential equation is linear) the existence of a solution of the initial value problem (1) can be established directly by actually solving the problem and exhibiting a formula for the solution. However, in general, this approach is not feasible because there is no method of solving the differential equation that applies in all cases. Therefore, for the general case it is necessary to adopt an indirect approach that demonstrates the existence of a solution of Eqs. (1), but usually does not provide a practical means of finding it. The heart of this method is the construction of a sequence of functions that converges to a limit function satisfying the initial value problem, although the members of the sequence individually do not. As a rule, it is impossible to compute explicitly more than a few members of the sequence; therefore, the limit function can be determined only in rare cases. Nevertheless, under the restrictions on f (t, y) stated in Theorem 2.4.2, it is possible to show that the sequence in question converges and that the limit function has the desired properties. The argument is fairly intricate and depends, in part, on techniques and results that are usually encountered for the first time in a course on advanced calculus. Consequently, we do not go into all of the details of the proof here; we do, however, indicate its main features and point out some of the difficulties involved. First of all, we note that it is sufficient to consider the problem in which the initial point (t0 , y0 ) is the origin; that is, the problem y = f (t, y),
y(0) = 0.
(2)
If some other initial point is given, then we can always make a preliminary change of variables, corresponding to a translation of the coordinate axes, that will take the given point (t0 , y0 ) into the origin. The existence and uniqueness theorem can now be stated in the following way.
106 Theorem 2.8.1
Chapter 2. First Order Differential Equations
If f and ∂ f /∂ y are continuous in a rectangle R: |t| ≤ a, |y| ≤ b, then there is some interval |t| ≤ h ≤ a in which there exists a unique solution y = φ(t) of the initial value problem (2).
To prove this theorem it is necessary to transform the initial value problem (2) into a more convenient form. If we suppose temporarily that there is a function y = φ(t) that satisfies the initial value problem, then f [t, φ(t)] is a continuous function of t only. Hence we can integrate y = f (t, y) from the initial point t = 0 to an arbitrary value of t, obtaining t f [s, φ(s)] ds, (3) φ(t) = 0
where we have made use of the initial condition φ(0) = 0. We also denote the dummy variable of integration by s. Since Eq. (3) contains an integral of the unknown function φ, it is called an integral equation. This integral equation is not a formula for the solution of the initial value problem, but it does provide another relation satisfied by any solution of Eqs. (2). Conversely, suppose that there is a continuous function y = φ(t) that satisfies the integral equation (3); then this function also satisfies the initial value problem (2). To show this, we first substitute zero for t in Eq. (3), which shows that the initial condition is satisfied. Further, since the integrand in Eq. (3) is continuous, it follows from the fundamental theorem of calculus that φ (t) = f [t, φ(t)]. Therefore the initial value problem and the integral equation are equivalent in the sense that any solution of one is also a solution of the other. It is more convenient to show that there is a unique solution of the integral equation in a certain interval |t| ≤ h. The same conclusion will then hold also for the initial value problem. One method of showing that the integral equation (3) has a unique solution is known as the method of successive approximations, or Picard’s12 iteration method. In using this method, we start by choosing an initial function φ0 , either arbitrarily or to approximate in some way the solution of the initial value problem. The simplest choice is φ0 (t) = 0;
(4)
then φ0 at least satisfies the initial condition in Eqs. (2), although presumably not the differential equation. The next approximation φ1 is obtained by substituting φ0 (s) for φ(s) in the right side of Eq. (3), and calling the result of this operation φ1 (t). Thus t φ1 (t) = f [s, φ0 (s)] ds. (5) 0
12
Charles-E´mile Picard (1856 –1914), except for Henri Poincare´, perhaps the most distinguished French mathematician of his generation, was appointed professor at the Sorbonne before the age of 30. He is known for important theorems in complex variables and algebraic geometry as well as differential equations. A special case of the method of successive approximations was first published by Liouville in 1838. However, the method is usually credited to Picard, who established it in a general and widely applicable form in a series of papers beginning in 1890.
107
2.8 The Existence and Uniqueness Theorem
Similarly, φ2 is obtained from φ1 :
φ2 (t) =
t
0
and, in general,
φn+1 (t) =
0
f [s, φ1 (s)] ds,
t
(6)
f [s, φn (s)] ds.
(7)
In this manner we generate the sequence of functions {φn } = φ0 , φ1 , . . . , φn , . . . . Each member of the sequence satisfies the initial condition, but in general none satisfies the differential equation. However, if at some stage, say for n = k, we find that φk+1 (t) = φk (t), then it follows that φk is a solution of the integral equation (3). Hence φk is also a solution of the initial value problem (2), and the sequence is terminated at this point. In general, this does not occur, and it is necessary to consider the entire infinite sequence. To establish Theorem 2.8.1 four principal questions must be answered: 1. 2. 3. 4.
Do all members of the sequence {φn } exist, or may the process break down at some stage? Does the sequence converge? What are the properties of the limit function? In particular, does it satisfy the integral equation (3), and hence the initial value problem (2)? Is this the only solution, or may there be others?
We first show how these questions can be answered in a specific and relatively simple example, and then comment on some of the difficulties that may be encountered in the general case.
Solve the initial value problem EXAMPLE
y = 2t (1 + y),
1
y(0) = 0.
(8)
by the method of successive approximations. Note first that if y = φ(t), then the corresponding integral equation is t 2s[1 + φ(s)] ds. φ(t) =
(9)
0
If the initial approximation is φ0 (t) = 0, it follows that t t 2s[1 + φ0 (s)] ds = 2s ds = t 2 . φ1 (t) = 0
Similarly,
φ2 (t) =
and φ3 (t) =
0
t
0
t
2s[1 + φ1 (s)] ds =
2s[1 + φ2 (s)] ds =
(10)
0
t 0
t
t4 2
(11)
t4 t6 + . 2 2·3
(12)
2s[1 + s 2 ] ds = t 2 +
0
s4 2s 1 + s 2 + 2
ds = t 2 +
108
Chapter 2. First Order Differential Equations
Equations (10), (11), and (12) suggest that t6 t 2n t4 + + ··· + (13) 2! 3! n! for each n ≥ 1, and this result can be established by mathematical induction. Equation (13) is certainly true for n = 1; see Eq. (10). We must show that if it is true for n = k, then it also holds for n = k + 1. We have t φk+1 (t) = 2s[1 + φk (s)] ds 0 t s4 s 2k 2 2s 1 + s + = + ··· + ds 2! k! 0 φn (t) = t 2 +
= t2 +
t4 t6 t 2k+2 + + ··· + , 2! 3! (k + 1)!
(14)
and the inductive proof is complete. A plot of the first four iterates, φ1 (t), . . . , φ4 (t) is shown in Figure 2.8.1. As k increases, the iterates seem to remain close over a gradually increasing interval, suggesting eventual convergence to a limit function. y 3
φ 3(t) φ4(t)
2.5
φ 2(t)
2 1.5 φ 1(t)
1 0.5
–1.5
–1
–0.5
0.5
1
1.5 t
FIGURE 2.8.1 Plots of φ1 (t), . . . , φ4 (t) for Example 1.
It follows from Eq. (13) that φn (t) is the nth partial sum of the infinite series ∞ 2k t k=1
k!
;
(15)
hence lim φn (t) exists if and only if the series (15) converges. Applying the ratio test, n→∞ we see that, for each t, t 2k+2 k! t2 →0 as k → ∞; (16) = (k + 1)! t 2k k + 1
109
2.8 The Existence and Uniqueness Theorem
thus the series (15) converges for all t, and its sum φ(t) is the limit of the sequence {φn (t)}. Further, since the series (15) is a Taylor series, it can be differentiated or integrated term by term as long as t remains within the interval of convergence, which in this case is the entire t-axis. Therefore, we can verify by direct computation that ∞ t 2k /k! is a solution of the integral equation (9). Alternatively, by substituting φ(t) = k=1
φ(t) for y in Eqs. (8), we can verify that this function satisfies the initial value problem. In this example it is also possible, from the series (15), to identify φ in terms of 2 elementary functions, namely, φ(t) = et − 1. However, this is not necessary for the discussion of existence and uniqueness. Explicit knowledge of φ(t) does make it possible to visualize the convergence of the sequence of iterates more clearly by plotting φ(t) − φk (t) for various values of k. Figure 2.8.2 shows this difference for k = 1, . . . , 4. This figure clearly shows the gradually increasing interval over which successive iterates provide a good approximation to the solution of the initial value problem.
y
k=2
1
0.8
k=1
k=3
0.6
0.4 k=4
0.2
–1.5
–1
–0.5
0.5
1
1.5
t
FIGURE 2.8.2 Plots of φ(t) − φk (t) for Example 1 for k = 1, . . . , 4.
Finally, to deal with the question of uniqueness, let us suppose that the initial value problem has two solutions φ and ψ. Since φ and ψ both satisfy the integral equation (9), we have by subtraction that φ(t) − ψ(t) =
t
2s[φ(s) − ψ(s)] ds.
0
Taking absolute values of both sides, we have, if t > 0, t t |φ(t) − ψ(t)| = 2s[φ(s) − ψ(s)] ds ≤ 2s|φ(s) − ψ(s)| ds. 0
0
110
Chapter 2. First Order Differential Equations
If we restrict t to lie in the interval 0 ≤ t ≤ A/2, where A is arbitrary, then 2t ≤ A, and t |φ(t) − ψ(t)| ≤ A |φ(s) − ψ(s)| ds. (17) 0
It is now convenient to introduce the function U defined by t |φ(s) − ψ(s)| ds. U (t) =
(18)
0
Then it follows at once that U (0) = 0, U (t) ≥ 0,
for
t ≥ 0.
(19) (20)
Further, U is differentiable, and U (t) = |φ(t) − ψ(t)|. Hence, by Eq. (17), U (t) − AU (t) ≤ 0.
(21)
Multiplying Eq. (21) by the positive quantity e−At gives [e−At U (t)] ≤ 0.
(22)
Then, upon integrating Eq. (22) from zero to t and using Eq. (19), we obtain e−At U (t) ≤ 0
for
t ≥ 0.
Hence U (t) ≤ 0 for t ≥ 0, and in conjunction with Eq. (20), this requires that U (t) = 0 for each t ≥ 0. Thus U (t) ≡ 0, and therefore ψ(t) ≡ φ(t), which contradicts the original hypothesis. Consequently, there cannot be two different solutions of the initial value problem for t ≥ 0. A slight modification of this argument leads to the same conclusion for t ≤ 0.
Returning now to the general problem of solving the integral equation (3), let us consider briefly each of the questions raised earlier: 1.
Do all members of the sequence {φn } exist? In the example f and ∂ f /∂ y were continuous in the whole t y-plane, and each member of the sequence could be explicitly calculated. In contrast, in the general case, f and ∂ f /∂ y are assumed to be continuous only in the rectangle R: |t| ≤ a, |y| ≤ b (see Figure 2.8.3). Furthermore, the members of the sequence cannot as a rule be explicitly determined. The danger is that at some stage, say for n = k, the graph of y = φk (t) may contain points that lie outside of the rectangle R. Hence at the next stage—in the computation of φk+1 (t)—it would be necessary to evaluate f (t, y) at points where it is not known to be continuous or even to exist. Thus the calculation of φk+1 (t) might be impossible. To avoid this danger it may be necessary to restrict t to a smaller interval than |t| ≤ a. To find such an interval we make use of the fact that a continuous function on a closed bounded region is bounded. Hence f is bounded on R; thus there exists a positive number M such that | f (t, y)| ≤ M,
(t, y) in R.
(23)
111
2.8 The Existence and Uniqueness Theorem y (–a,b)
(a,b) R t
(–a,–b)
(a,–b)
FIGURE 2.8.3 Region of definition for Theorem 2.8.1.
We have mentioned before that φn (0) = 0
2.
(t), the maximum absolute slope for each n. Since f [t, φk (t)] is equal to φk+1 of the graph of the equation y = φk+1 (t) is M. Since this graph contains the point (0, 0) it must lie in the wedge-shaped shaded region in Figure 2.8.4. Hence the point [t, φk+1 (t)] remains in R at least as long as R contains the wedgeshaped region, which is for |t| ≤ b/M. We hereafter consider only the rectangle D: |t| ≤ h, |y| ≤ b, where h is equal either to a or to b/M, whichever is smaller. With this restriction, all members of the sequence {φn (t)} exist. Note that if b/M < a, then a larger value of h can be obtained by finding a better bound for | f (t, y)|, provided that M is not already equal to the maximum value of | f (t, y)|. Does the sequence {φn (t)} converge? As in the example, we can identify φn (t) = φ1 (t) + [φ2 (t) − φ1 (t)] + · · · + [φn (t) − φn−1 (t)] as the nth partial sum of the series
φ1 (t) +
∞
[φk+1 (t) − φk (t)].
(24)
k=1
The convergence of the sequence {φn (t)} is established by showing that the series (24) converges. To do this, it is necessary to estimate the magnitude |φk+1 (t) − φk (t)| of the general term. The argument by which this is done is
y = φ n(t) y
y = φ n(t) y y=b
y=b
t
t y = –b
t = –a
t=–
b M
(a)
t=
b M
y = –b t = –a
t=a
t=a (b)
FIGURE 2.8.4 Regions in which successive iterates lie. (a) b/M < a; (b) b/M > a.
112
Chapter 2. First Order Differential Equations
indicated in Problems 15 through 18 and will be omitted here. Assuming that the sequence converges, we denote the limit function by φ, so that φ(t) = lim φn (t). n→∞
3.
(25)
What are the properties of the limit function φ? In the first place, we would like to know that φ is continuous. This is not, however, a necessary consequence of the convergence of the sequence {φn (t)}, even though each member of the sequence is itself continuous. Sometimes a sequence of continuous functions converges to a limit function that is discontinuous. A simple example of this phenomenon is given in Problem 13. One way to show that φ is continuous is to show not only that the sequence {φn } converges, but also that it converges in a certain manner, known as uniform convergence. We do not take up this question here but note only that the argument referred to in paragraph 2 is sufficient to establish the uniform convergence of the sequence {φn } and, hence, the continuity of the limit function φ in the interval |t| ≤ h. Now let us return to Eq. (7), t f [s, φn (s)] ds. φn+1 (t) = 0
Allowing n to approach ∞ on both sides, we obtain t φ(t) = lim f [s, φn (s)] ds. n→∞ 0
(26)
We would like to interchange the operations of integrating and taking the limit on the right side of Eq. (26) so as to obtain t lim f [s, φn (s)] ds. (27) φ(t) = 0 n→∞
In general, such an interchange is not permissible (see Problem 14, for example), but once again the fact that the sequence {φn (t)} converges uniformly is sufficient to allow us to take the limiting operation inside the integral sign. Next, we wish to take the limit inside the function f , which would give t φ(t) = f [s, lim φn (s)] ds (28) n→∞
0
and hence
φ(t) =
t
f [s, φ(s)] ds.
(29)
0
4.
The statement that lim f [s, φn (s)] = f [s, lim φn (s)] is equivalent to the staten→∞ n→∞ ment that f is continuous in its second variable, which is known by hypothesis. Hence Eq. (29) is valid and the function φ satisfies the integral equation (3). Therefore φ is also a solution of the initial value problem (2). Are there other solutions of the integral equation (3) beside y = φ(t)? To show the uniqueness of the solution y = φ(t), we can proceed much as in the example.
113
2.8 The Existence and Uniqueness Theorem
First, assume the existence of another solution y = ψ(t). It is then possible to show (see Problem 19) that the difference φ(t) − ψ(t) satisfies the inequality t |φ(s) − ψ(s)| ds (30) |φ(t) − ψ(t)| ≤ A 0
for 0 ≤ t ≤ h and a suitable positive number A. From this point the argument is identical to that given in the example, and we conclude that there is no solution of the initial value problem (2) other than the one generated by the method of successive approximations.
PROBLEMS
In each of Problems 1 and 2 transform the given initial value problem into an equivalent problem with the initial point at the origin. 1. dy/dt = t 2 + y 2 ,
y(1) = 2
2. dy/dt = 1 − y 3 ,
y(−1) = 3
In each of Problems 3 through 6 let φ0 (t) = 0 and use the method of successive approximations to solve the given initial value problem. (a) Determine φn (t) for an arbitrary value of n. (b) Plot φn (t) for n = 1, . . . , 4. Observe whether the iterates appear to be converging. (c) Express lim φn (t) = φ(t) in terms of elementary functions; that is, solve the given n→∞ initial value problem. (d) Plot |φ(t) − φn (t)| for n = 1, . . . , 4. For each of φ1 (t), . . . , φ4 (t) estimate the interval in which it is a reasonably good approximation to the actual solution.
䉴 䉴
3. y = 2(y + 1), 5. y = −y/2 + t,
y(0) = 0 y(0) = 0
䉴 䉴
4. y = −y − 1, 6. y = y + 1 − t,
y(0) = 0 y(0) = 0
In each of Problems 7 and 8 let φ0 (t) = 0 and use the method of successive approximations to solve the given initial value problem. (a) Determine φn (t) for an arbitrary value of n. (b) Plot φn (t) for n = 1, . . . , 4. Observe whether the iterates appear to be converging.
䉴
7. y = t y + 1,
y(0) = 0
䉴
8. y = t 2 y − t,
y(0) = 0
In each of Problems 9 and 10 let φ0 (t) = 0 and use the method of successive approximations to approximate the solution of the given initial value problem. (a) Calculate φ1 (t), . . . , φ3 (t). (b) Plot φ1 (t), . . . , φ3 (t) and observe whether the iterates appear to be converging.
䉴
9. y = t 2 + y 2 ,
y(0) = 0
䉴 10. y = 1 − y 3 ,
y(0) = 0
In each of Problems 11 and 12 let φ0 (t) = 0 and use the method of successive approximations to approximate the solution of the given initial value problem. (a) Calculate φ1 (t), . . . , φ4 (t), or (if necessary) Taylor approximations to these iterates. Keep terms up to order six. (b) Plot the functions you found in part (a) and observe whether they appear to be converging. y(0) = 0 䉴 11. y = − sin y + 1, 2 y(0) = 0 䉴 12. y = (3t + 4t + 2)/2(y − 1), n 13. Let φn (x) = x for 0 ≤ x ≤ 1 and show that 0, lim φ (x) = n→∞ n 1,
0 ≤ x < 1, x = 1.
114
Chapter 2. First Order Differential Equations
This example shows that a sequence of continuous functions may converge to a limit function that is discontinuous. 2 14. Consider the sequence φn (x) = 2nxe−nx , 0 ≤ x ≤ 1. (a) Show that lim φn (x) = 0 for 0 ≤ x ≤ 1; hence n→∞
1
lim φn (x) d x = 0.
0 n→∞
1
(b) Show that
2
2nxe−nx d x = 1 − e−n ; hence
0
lim
n→∞ 0
1
φn (x) d x = 1.
Thus, in this example, lim
n→∞ a
b
φn (x) d x =
b
lim φn (x) d x,
a n→∞
even though lim φn (x) exists and is continuous. n→∞
In Problems 15 through 18 we indicate how to prove that the sequence {φn (t)}, defined by Eqs. (4) through (7), converges. 15. If ∂ f /∂ y is continuous in the rectangle D, show that there is a positive constant K such that | f (t,y1 ) − f (t,y2 )| ≤ K |y1 − y2 |, where (t,y1 ) and (t,y2 ) are any two points in D having the same t coordinate. This inequality is known as a Lipschitz condition. Hint: Hold t fixed and use the mean value theorem on f as a function of y only. Choose K to be the maximum value of |∂ f /∂ y| in D. 16. If φn−1 (t) and φn (t) are members of the sequence {φn (t)}, use the result of Problem 15 to show that | f [t, φn (t)] − f [t, φn−1 (t)]| ≤ K |φn (t) − φn−1 (t)|. 17. (a) Show that if |t| ≤ h, then |φ1 (t)| ≤ M|t|, where M is chosen so that | f (t,y)| ≤ M for (t,y) in D. (b) Use the results of Problem 16 and part (a) of Problem 17 to show that |φ2 (t) − φ1 (t)| ≤
M K |t|2 . 2
(c) Show, by mathematical induction, that |φn (t) − φn−1 (t)| ≤
M K n−1 |t|n M K n−1 h n ≤ . n! n!
18. Note that φn (t) = φ1 (t) + [φ2 (t) − φ1 (t)] + · · · + [φn (t) − φn−1 (t)]. (a) Show that |φn (t)| ≤ |φ1 (t)| + |φ2 (t) − φ1 (t)| + · · · + |φn (t) − φn−1 (t)|.
115
2.9 First Order Difference Equations
(b) Use the results of Problem 17 to show that M (K h)2 (K h)n |φn (t)| ≤ Kh + + ···+ . K 2! n! (c) Show that the sum in part (b) converges as n → ∞ and, hence, the sum in part (a) also converges as n → ∞. Conclude therefore that the sequence {φn (t)} converges since it is the sequence of partial sums of a convergent infinite series. 19. In this problem we deal with the question of uniqueness of the solution of the integral equation (3), t f [s, φ(s)] ds. φ(t) = 0
(a) Suppose that φ and ψ are two solutions of Eq. (3). Show that, for t ≥ 0, t φ(t) − ψ(t) = { f [s, φ(s)] − f [s, ψ(s)]} ds. 0
(b) Show that
t
|φ(t) − ψ(t)| ≤
| f [s, φ(s)] − f [s, ψ(s)]| ds.
0
(c) Use the result of Problem 15 to show that t |φ(s) − ψ(s)| ds, |φ(t) − ψ(t)| ≤ K 0
where K is an upper bound for |∂ f /∂ y| in D. This is the same as Eq. (30), and the rest of the proof may be constructed as indicated in the text.
2.9 First Order Difference Equations ODE
While a continuous model leading to a differential equation is reasonable and attractive for many problems, there are some cases in which a discrete model may be more natural. For instance, the continuous model of compound interest used in Section 2.3 is only an approximation to the actual discrete process. Similarly, sometimes population growth may be described more accurately by a discrete than by a continuous model. This is true, for example, of species whose generations do not overlap and that propagate at regular intervals, such as at particular times of the calendar year. Then the population yn+1 of the species in the year n + 1 is some function of n and the population yn in the preceding year, that is, yn+1 = f (n, yn ),
n = 0, 1, 2, . . . .
(1)
Equation (1) is called a first order difference equation. It is first order because the value of yn+1 depends on the value of yn , but not earlier values yn−1 , yn−2 , and so forth. As for differential equations, the difference equation (1) is linear if f is a linear function of yn ; otherwise, it is nonlinear. A solution of the difference equation (1) is
116
Chapter 2. First Order Differential Equations
a sequence of numbers y0 , y1 , y2 , . . . that satisfy the equation for each n. In addition to the difference equation itself, there may also be an initial condition y0 = α
(2)
that prescribes the value of the first term of the solution sequence. We now assume temporarily that the function f in Eq. (1) depends only on yn , but not n. In this case yn+1 = f (yn ),
n = 0, 1, 2, . . . .
(3)
If y0 is given, then successive terms of the solution can be found from Eq. (3). Thus y1 = f (y0 ), and y2 = f (y1 ) = f [ f (y0 )]. The quantity f [ f (y0 )] is called the second iterate of the difference equation and is sometimes denoted by f 2 (y0 ). Similarly, the third iterate y3 is given by y3 = f (y2 ) = f { f [ f (y0 )]} = f 3 (y0 ), and so on. In general, the nth iterate yn is yn = f (yn−1 ) = f n (y0 ). This procedure is referred to as iterating the difference equation. It is often of primary interest to determine the behavior of yn as n → ∞, in particular, whether yn approaches a limit, and if so, to find it. Solutions for which yn has the same value for all n are called equilibrium solutions. They are frequently of special importance, just as in the study of differential equations. If equilibrium solutions exist, one can find them by setting yn+1 equal to yn in Eq. (3) and solving the resulting equation yn = f (yn )
(4)
for yn . Linear Equations. Suppose that the population of a certain species in a given region in year n + 1, denoted by yn+1 , is a positive multiple ρn of the population yn in year n; that is, yn+1 = ρn yn ,
n = 0, 1, 2, . . . .
(5)
Note that the reproduction rate ρn may differ from year to year. The difference equation (5) is linear and can easily be solved by iteration. We obtain y1 = ρ0 y0 , y2 = ρ1 y1 = ρ1 ρ0 y0 , and, in general, yn = ρn−1 · · · ρ0 y0 ,
n = 1, 2, . . . .
(6)
Thus, if the initial population y0 is given, then the population of each succeeding generation is determined by Eq. (6). Although for a population problem ρn is intrinsically
117
2.9 First Order Difference Equations
positive, the solution (6) is also valid if ρn is negative for some or all values of n. Note, however, that if ρn is zero for some n, then yn+1 and all succeeding values of y are zero; in other words, the species has become extinct. If the reproduction rate ρn has the same value ρ for each n, then the difference equation (5) becomes yn+1 = ρyn
(7)
yn = ρ n y0 .
(8)
and its solution is Equation (7) also has an equilibrium solution, namely, yn = 0 for all n, corresponding to the initial value y0 = 0. The limiting behavior of yn is easy to determine from Eq. (8). In fact, 0, if |ρ| < 1; lim yn = y0 , (9) if ρ = 1; n→∞ does not exist, otherwise. In other words, the equilibrium solution yn = 0 is asymptotically stable for |ρ| < 1 and unstable if |ρ| > 1. Now we will modify the population model represented by Eq. (5) to include the effect of immigration or emigration. If bn is the net increase in population in year n due to immigration, then the population in year n + 1 is the sum of those due to natural reproduction and those due to immigration. Thus yn+1 = ρyn + bn ,
n = 0, 1, 2, . . . ,
(10)
where we are now assuming that the reproduction rate ρ is constant. We can solve Eq. (10) by iteration in the same manner as before. We have y1 = ρy0 + b0 , y2 = ρ(ρy0 + b0 ) + b1 = ρ 2 y0 + ρb0 + b1 , y3 = ρ(ρ 2 y0 + ρb0 + b1 ) + b2 = ρ 3 y0 + ρ 2 b0 + ρb1 + b2 , and so forth. In general, we obtain yn = ρ n y0 + ρ n−1 b0 + · · · + ρbn−2 + bn−1 = ρ n y0 +
n−1
ρ n−1− j b j .
(11)
j=0
Note that the first term on the right side of Eq. (11) represents the descendants of the original population, while the other terms represent the population in year n resulting from immigration in all preceding years. In the special case where bn = b for all n, the difference equation is yn+1 = ρyn + b,
(12)
yn = ρ n y0 + (1 + ρ + ρ 2 + · · · + ρ n−1 )b.
(13)
and from Eq. (11) its solution is If ρ = 1, we can write this solution in the more compact form yn = ρ n y0 +
1 − ρn b, 1−ρ
(14)
118
Chapter 2. First Order Differential Equations
where again the two terms on the right side are the effects of the original population and of immigration, respectively. By rewriting Eq. (14) as
b b n , (15) yn = ρ y0 − + 1−ρ 1−ρ the long-time behavior of yn is more evident. It follows from Eq. (15) that yn → b/(1 − ρ) if |ρ| < 1 and that yn has no limit if |ρ| > 1 or if ρ = −1. The quantity b/(1 − ρ) is an equilibrium solution of Eq. (12), as can readily be seen directly from that equation. Of course, Eq. (14) is not valid for ρ = 1. To deal with that case, we must return to Eq. (13) and let ρ = 1 there. It follows that yn = y0 + nb,
(16)
so in this case yn becomes unbounded as n → ∞. The same model also provides a framework for solving many problems of a financial character. For such problems yn is the account balance in the nth time period, ρn = 1 + rn , where rn is the interest rate for that period, and bn is the amount deposited or withdrawn. The following is a typical example.
EXAMPLE
1
A recent college graduate takes out a $10,000 loan to purchase a car. If the interest rate is 12%, what monthly payment is required to pay off the loan in 4 years? The relevant difference equation is Eq. (12), where yn is the loan balance outstanding in the nth month, ρ = 1 + r is the interest rate per month, and b is the monthly payment. Note that b must be negative and ρ = 1.01, corresponding to a monthly interest rate of 1%. The solution of the difference equation (12) with this value for ρ and the initial condition y0 = 10,000 is given by Eq. (15), that is, yn = (1.01)n (10,000 + 100b) − 100b.
(17)
The payment b needed to pay off the loan in 4 years is found by setting y48 = 0 and solving for b. This gives b = −100
(1.01)48 = −263.34. (1.01)48 − 1
(18)
The total amount paid on the loan is 48 times b or $12,640.32. Of this amount $10,000 is repayment of the principal and the remaining $2640.32 is interest.
Nonlinear Equations. Nonlinear difference equations are much more complicated and have much more varied solutions than linear equations. We will restrict our attention to a single equation, the logistic difference equation y (19) yn+1 = ρyn 1 − n , k which is analogous to the logistic differential equation y dy (20) = ry 1 − dt K
119
2.9 First Order Difference Equations
that was discussed in Section 2.5. Note that if the derivative dy/dt in Eq. (20) is replaced by the difference (yn+1 − yn )/ h, then Eq. (20) reduces to Eq. (19) with ρ = 1 + hr and k = (1 + hr )K / hr . To simplify Eq. (19) a little more, we can scale the variable yn by introducing the new variable u n = yn /k. Then Eq. (19) becomes u n+1 = ρu n (1 − u n ),
(21)
where ρ is a positive parameter. We begin our investigation of Eq. (21) by seeking the equilibrium, or constant solutions. These can be found by setting u n+1 equal to u n in Eq. (21), which corresponds to setting dy/dt equal to zero in Eq. (20). The resulting equation is u n = ρu n − ρu 2n ,
(22)
so it follows that the equilibrium solutions of Eq. (21) are u n = 0,
un =
ρ−1 . ρ
(23)
The next question is whether the equilibrium solutions are asymptotically stable or unstable; that is, for an initial condition near one of the equilibrium solutions, does the resulting solution sequence approach or depart from the equilibrium solution? One way to examine this question is by approximating Eq. (21) by a linear equation in the neighborhood of an equilibrium solution. For example, near the equilibrium solution u n = 0, the quantity u 2n is small compared to u n itself, so we assume that we can neglect the quadratic term in Eq. (21) in comparison with the linear terms. This leaves us with the linear difference equation u n+1 = ρu n ,
(24)
which is presumably a good approximation to Eq. (21) for u n sufficiently near zero. However, Eq. (24) is the same as Eq. (7), and we have already concluded, in Eq. (9), that u n → 0 as n → ∞ if and only if |ρ| < 1, or since ρ must be positive, for 0 < ρ < 1. Thus the equilibrium solution u n = 0 is asymptotically stable for the linear approximation (24) for this set of ρ values, so we conclude that it is also asymptotically stable for the full nonlinear equation (21). This conclusion is correct, although our argument is not complete. What is lacking is a theorem stating that the solutions of the nonlinear equation (21) resemble those of the linear equation (24) near the equilibrium solution u n = 0. We will not take time to discuss this issue here; the same question is treated for differential equations in Section 9.3. Now consider the other equilibrium solution u n = (ρ − 1)/ρ. To study solutions in the neighborhood of this point, we write un =
ρ−1 + vn , ρ
(25)
where we assume that vn is small. By substituting from Eq. (25) in Eq. (21) and simplifying the resulting equation, we eventually obtain vn+1 = (2 − ρ)vn − ρvn2 .
(26)
Since vn is small, we again neglect the quadratic term in comparison with the linear terms and thereby obtain the linear equation vn+1 = (2 − ρ)vn .
(27)
120
Chapter 2. First Order Differential Equations
Referring to Eq. (9) once more, we find that vn → 0 as n → ∞ for |2 − ρ| < 1, that is, for 1 < ρ < 3. Therefore we conclude that, for this range of values of ρ, the equilibrium solution u n = (ρ − 1)/ρ is asymptotically stable. Figure 2.9.1 contains the graphs of solutions of Eq. (21) for ρ = 0.8, ρ = 1.5, and ρ = 2.8, respectively. Observe that the solution converges to zero for ρ = 0.8 and to the nonzero equilibrium solution for ρ = 1.5 and ρ = 2.8. The convergence is monotone for ρ = 0.8 and ρ = 1.5 and is oscillatory for ρ = 2.8. While the graphs shown are for particular initial conditions, the graphs for other initial conditions are similar. Another way of displaying the solution of a difference equation is shown in Figure 2.9.2. In each part of this figure the graphs of the parabola y = ρx(1 − x) and of the straight line y = x are shown. The equilibrium solutions correspond to the points of intersection of these two curves. The piecewise linear graph consisting of successive vertical and horizontal line segments, sometimes called a stairstep diagram, represents the solution sequence. The sequence starts at the point u 0 on the x-axis. The vertical line segment drawn upward to the parabola at u 0 corresponds to the calculation of ρu 0 (1 − u 0 ) = u 1 . This value is then transferred from the y-axis to the x-axis; this step is represented by the horizontal line segment from the parabola to the line y = x. Then the process is repeated over and over again. Clearly, the sequence converges to the origin in Figure 2.9.2a and to the nonzero equilibrium solution in the other two cases. To summarize our results so far: The difference equation (21) has two equilibrium solutions, u n = 0 and u n = (ρ − 1)/ρ; the former is stable for 0 ≤ ρ < 1, and the latter is stable for 1 < ρ < 3. This can be depicted as shown in Figure 2.9.3. The parameter ρ is plotted on the horizontal axis and u on the vertical axis. The equilibrium solutions u = 0 and u = (ρ − 1)/ρ are shown. The intervals in which each one is stable are indicated by the heavy portions of the curves. Note that the two curves intersect at ρ = 1, where there is an exchange of stability from one equilibrium solution to the other. For ρ > 3 neither of the equilibrium solutions is stable, and the solutions of Eq. (21) exhibit increasing complexity as ρ increases. For ρ somewhat greater than 3 the sequence u n rapidly approaches a steady oscillation of period 2; that is, u n oscillates back and forth between two distinct values. For ρ = 3.2 a solution is shown in Figure 2.9.4. For n greater than about 20, the solution alternates between the values 0.5130 and 0.7995. The graph is drawn for the particular initial condition u 0 = 0.3, but it is similar for all other initial values between 0 and 1. Figure 2.9.4b also shows the same steady oscillation as a rectangular path that is traversed repeatedly in the clockwise direction. un
un
un
0.8
0.8
0.8
0.6
0.6
0.4
0.4
0.4
0.2
0.2
0.2
2
4
6 ( a)
8
n
un =
2
un =
1.8 2.8
~ = 0.6429
0.6
1 3
4
6 ( b)
8
n
2
4
6
8
( c)
FIGURE 2.9.1 Solutions of u n+1 = ρu n (1 − u n ): (a) ρ = 0.8; (b) ρ = 1.5; (c) ρ = 2.8.
n
121
2.9 First Order Difference Equations y
y
0.8
0.8 y=x
y=x 0.6
0.6
0.4
0.4 y = ρ x (1 – x)
0.2
y = ρ x (1 – x)
( ) 1, 1 3 3
0.2
u0 = 0.85
u0 = 0.3 0.2
0.4
0.6
0.8
1x
0.2
0.4
0.6
( a)
1 x
0.8
( b)
y 1 y=x 0.8 y = ρ x (1 – x) (0.6429..., 0.6429...) 0.6
0.4
0.2 u0 = 0.3 0.2
0.4
0.6 ( c)
0.8
1
x
FIGURE 2.9.2 Iterates of u n+1 = ρu n (1 − u n ). (a) ρ = 0.8; (b) ρ = 1.5; (c) ρ = 2.8. u
1 u = (ρ – 1)/ρ 0.5
Stable u=0 1
–0.5
2
3
Unstable
FIGURE 2.9.3 Exchange of stability for u n+1 = ρu n (1 − u n ).
ρ
122
Chapter 2. First Order Differential Equations un 0.7995
0.8 0.6
0.5130
0.4 0.2 10
20
30
40
n
(a)
y 1
0.8
0.7995 y = ρ x (1 – x)
0.6 0.5130 0.4
0.5130
0.7995
y=x 0.2
0.2
0.4
0.6
0.8
1 x
(b)
FIGURE 2.9.4 A solution of u n+1 = ρu n (1 − u n ) for ρ = 3.2; period two. (a) u n versus n; (b) a two-cycle.
At about ρ = 3.449 each state in the oscillation of period two separates into two distinct states, and the solution becomes periodic with period four; see Figure 2.9.5, which shows a solution of period four for ρ = 3.5. As ρ increases further, periodic solutions of period 8, 16, . . . appear. The appearance of a new solution at a certain parameter value is called a bifurcation. The ρ-values at which the successive period doublings occur approach a limit that is approximately 3.57. For ρ > 3.57 the solutions possess some regularity, but no discernible detailed pattern for most values of ρ. For example, a solution for ρ = 3.65 is shown in Figure 2.9.6. It oscillates between approximately 0.3 and 0.9, but its fine structure is unpredictable. The term chaotic is used to describe this situation. One of the features of chaotic solutions is extreme sensitivity to the initial conditions. This is illustrated in Figure 2.9.7, where two solutions of Eq. (21) for ρ = 3.65 are shown. One solution is the same as that in Figure 2.9.6 and has the initial value u 0 = 0.3, while the other solution has the initial value u 0 = 0.305. For about 15 iterations the two solutions
123
2.9 First Order Difference Equations un 0.8
0.4
4
8
12
16
20
24
28
32
36
40
n
(a) y 1 y=x y = ρ x (1 – x)
0.5
0.5009 0.3828
0.8269 0.8750
0.5
1
x
(b)
FIGURE 2.9.5 A solution of u n+1 = ρu n (1 − u n ) for ρ = 3.5; period four. (a) u n versus n; (b) a four-cycle. un 0.9 0.8 0.7 0.6 0.5 0.4 0.3 10
20
30
40
50
60 n
FIGURE 2.9.6 A solution of u n+1 = ρu n (1 − u n ) for ρ = 3.65; a chaotic solution.
124
Chapter 2. First Order Differential Equations un 0.9 0.8 0.7 0.6 0.5 0.4 0.3 10
20
30
40
50
60 n
FIGURE 2.9.7 Two solutions of u n+1 = ρu n (1 − u n ) for ρ = 3.65; u 0 = 0.3 and u 0 = 0.305.
remain close and are hard to distinguish from each other in the figure. After that, while they continue to wander about in approximately the same set of values, their graphs are quite dissimilar. It would certainly not be possible to use one of these solutions to estimate the value of the other for values of n larger than about 15. It is only in the last several years that chaotic solutions of difference and differential equations have become widely known. Equation (20) was one of the first instances of mathematical chaos to be found and studied in detail, by Robert May13 in 1974. On the basis of his analysis of this equation as a model of the population of certain insect species, May suggested that if the growth rate ρ is too large, then it will be impossible to make effective long-range predictions about these insect populations. The occurrence of chaotic solutions in simple problems has stimulated an enormous amount of research in recent years, but many questions remain unanswered. It is increasingly clear, however, that chaotic solutions are much more common than suspected at first and may be a part of the investigation of a wide range of phenomena.
PROBLEMS
In each of Problems 1 through 6 solve the given difference equation in terms of the initial value y0 . Describe the behavior of the solution as n → ∞. 1. yn+1 = −0.9yn n+3 3. yn+1 = y n+1 n 5. yn+1 = 0.5yn + 6
2. yn+1 =
n+1 y n+2 n
4. yn+1 = (−1)n+1 yn 6. yn+1 = −0.5yn + 6
13 R. M. May, “Biological Populations with Nonoverlapping Generations: Stable Points, Stable Cycles, and Chaos,” Science 186 (1974), pp. 645–647; “Biological Populations Obeying Difference Equations: Stable Points, Stable Cycles, and Chaos,” Journal of Theoretical Biology 51 (1975), pp. 511–524.
2.9 First Order Difference Equations
125
7. Find the effective annual yield of a bank account that pays interest at a rate of 7%, compounded daily; that is, find the ratio of the difference between the final and initial balances divided by the initial balance. 8. An investor deposits $1000 in an account paying interest at a rate of 8% compounded monthly, and also makes additional deposits of $25 per month. Find the balance in the account after 3 years. 9. A certain college graduate borrows $8000 to buy a car. The lender charges interest at an annual rate of 10%. What monthly payment rate is required to pay off the loan in 3 years? Compare your result with that of Problem 9 in Section 2.3. 10. A homebuyer wishes to take out a mortgage of $100,000 for a 30-year period. What monthly payment is required if the interest rate is (a) 9%, (b) 10%, (c) 12%? 11. A homebuyer takes out a mortgage of $100,000 with an interest rate of 9%. What monthly payment is required to pay off the loan in 30 years? In 20 years? What is the total amount paid during the term of the loan in each of these cases? 12. If the interest rate on a 20-year mortgage is fixed at 10% and if a monthly payment of $1000 is the maximum that the buyer can afford, what is the maximum mortgage loan that can be made under these conditions? 13. A homebuyer wishes to finance the purchase with a $95,000 mortgage with a 20-year term. What is the maximum interest rate the buyer can afford, if the monthly payment is not to exceed $900? The Logistic Difference Equation. Problems 14 through 19 deal with the difference equation (21), u n+1 = ρu n (1 − u n ).
䉴
䉴
䉴
䉴
14. Carry out the details in the linear stability analysis of the equilibrium solution u n = (ρ − 1)/ρ; that is, derive the difference equation (26) in the text for the perturbation vn . 15. (a) For ρ = 3.2 plot or calculate the solution of the logistic equation (21) for several initial conditions, say, u 0 = 0.2, 0.4, 0.6, and 0.8. Observe that in each case the solution approaches a steady oscillation between the same two values. This illustrates that the long-term behavior of the solution is independent of the initial conditions. (b) Make similar calculations and verify that the nature of the solution for large n is independent of the initial condition for other values of ρ, such as 2.6, 2.8, and 3.4. 16. Assume that ρ > 1 in Eq. (21). (a) Draw a qualitatively correct stairstep diagram and thereby show that if u 0 < 0, then u n → −∞ as n → ∞. (b) In a similar way determine what happens as n → ∞ if u 0 > 1. 17. The solutions of Eq. (21) change from convergent sequences to periodic oscillations of period two as the parameter ρ passes through the value 3. To see more clearly how this happens, carry out the following calculations. (a) Plot or calculate the solution for ρ = 2.9, 2.95, and 2.99, respectively, using an initial value u 0 of your choice in the interval (0, 1). In each case estimate how many iterations are required for the solution to get “very close” to the limiting value. Use any convenient interpretation of what “very close” means in the preceding sentence. (b) Plot or calculate the solution for ρ = 3.01, 3.05, and 3.1, respectively, using the same initial condition as in part (a). In each case estimate how many iterations are needed to reach a steady-state oscillation. Also find or estimate the two values in the steady-state oscillation. 18. By calculating or plotting the solution of Eq. (21) for different values of ρ, estimate the value of ρ for which the solution changes from an oscillation of period two to one of period four. In the same way estimate the value of ρ for which the solution changes from period four to period eight. 19. Let ρk be the value of ρ for which the solution of Eq. (21) changes from period 2k−1 to period 2k . Thus, as noted in the text, ρ1 = 3, ρ2 ∼ = 3.449, and ρ3 ∼ = 3.544.
126
Chapter 2. First Order Differential Equations
(a) Using these values of ρ1 , ρ2 , and ρ3 , or those you found in Problem 18, calculate (ρ2 − ρ1 )/(ρ3 − ρ2 ). (b) Let δn = (ρn − ρn−1 )/(ρn+1 − ρn ). It has been shown that δn approaches a limit δ as n → ∞, where δ ∼ = 4.6692 is known as the Feigenbaum number. Determine the percentage difference between the limiting value δ and δ2 , as calculated in part (a). (c) Assume that δ3 = δ and use this relation to estimate ρ4 , the value of ρ at which solutions of period 16 appear. (d) By plotting or calculating solutions near the value of ρ4 found in part (c), try to detect the appearance of a period 16 solution. (e) Observe that ρn = ρ1 + (ρ2 − ρ1 ) + (ρ3 − ρ2 ) + · · · + (ρn − ρn−1 ). Assuming that (ρ4 − ρ3 ) = (ρ3 − ρ2 )δ −1 , (ρ5 − ρ4 ) = (ρ3 − ρ2 )δ −2 , and so forth, express ρn as a geometric sum. Then find the limit of ρn as n → ∞. This is an estimate of the value of ρ at which the onset of chaos occurs in the solution of the logistic equation (21).
PROBLEMS
Miscellaneous Problems One of the difficulties in solving first order equations is that there are several methods of solution, each of which can be used on a certain type of equation. It may take some time to become proficient in matching solution methods with equations. The following problems are presented so that you may have some practice in identifying the method or methods applicable to a given equation. In each of Problems 1 through 32 solve the given differential equation. If an initial condition is given, also find the solution that satisfies it. 1. 3. 5. 7. 9. 11.
dy x 3 − 2y = dx x 2x + y dy , y(0) = 0 = dx 3 + 3y 2 − x dy 2x y + y 2 + 1 =− dx x 2 + 2x y dy x Hint: Let u = x 2 . = 2 dx x y + y3 dy 2x y + 1 =− 2 dx x + 2y (x 2 + y) d x + (x + e y ) dy = 0
13. x dy − y d x = (x y)1/2 d x
2. (x + y) d x − (x − y) dy = 0 4. (x + e y ) dy − d x = 0 dy + x y = 1 − y, dx dy sin x 8. x + 2y = , dx x 6. x
23. x y + y − y 2 e2x = 0
y(2) = 1
10. (3y 2 + 2x y) d x − (2x y + x 2 ) dy = 0 dy 1 12. +y= dx 1 + ex
14. (x + y) d x + (x + 2y) dy = 0, y(2) = 3 dy x x 15. (e + 1) 16. = y − ye dx dy 17. 18. = e2x + 3y dx 19. x dy − y d x = 2x 2 y 2 dy, y(1) = −2 20. 21. x y = y + xe y/x
y(1) = 0
dy x 2 + y2 = dx x2 (2y + 3x) d x = −x dy y = e x+y
dy x2 − 1 , y(−1) = 1 = 2 dx y +1 24. 2 sin y cos x d x + cos y sin x dy = 0 22.
Miscellaneous Problems
127
x x2 x y 25. 2 − 2 − 2 dy = 0 dx + y x + y2 x 2 + y2 y x2 − y dy = 0 26. (2y + 1) d x + x
27. (cos 2y − sin x) d x − 2 tan x sin 2y dy = 0 dy dy 3x 2 − 2y − y 3 2y + x 2 − y 2 28. 29. = = dx dx 2x 2x + 3x y 2 dy y3 30. , y(0) = 1 = dx 1 − 2x y 2 31. (x 2 y + x y − y) d x + (x 2 y − 2x 2 ) dy = 0 dy 3x 2 y + y 2 32. , y(1) = −2 =− 3 dx 2x + 3x y
REFERENCES
Two books mentioned in Section 2.3 are:
Bailey, N. T. J., The Mathematical Theory of Infectious Diseases and Its Applications (2nd ed.) (New York: Hafner Press, 1975). Clark, Colin W., Mathematical Bioeconomics (2nd ed.) (New York: Wiley-Interscience, 1990). An introduction to population dynamics in general is:
Frauenthal, J. C., Introduction to Population Modeling (Boston: Birkhauser, 1980). A fuller discussion of the proof of the fundamental existence and uniqueness theorem can be found in many more advanced books on differential equations. Two that are reasonably accessible to elementary readers are:
Coddington, E. A., An Introduction to Ordinary Differential Equations (Englewood Cliffs, NJ: Prentice Hall, 1961; New York: Dover, 1989). Brauer, F., and Nohel, J., The Qualitative Theory of Ordinary Differential Equations (New York: Benjamin, 1969; New York: Dover, 1989). A valuable compendium of methods for solving differential equations is:
Zwillinger, D., Handbook of Differential Equations (3rd ed.) (San Diego: Academic Press, 1998). A general reference on difference equations is:
Mickens, R. E., Difference Equations, Theory and Applications (2nd ed.) (New York: Van Nostrand Reinhold, 1990). An elementary treatment of chaotic solutions of difference equations is:
Devaney, R. L., Chaos, Fractals, and Dynamics (Reading, MA: Addison-Wesley, 1990).
CHAPTER
3
Second Order Linear Equations
Linear equations of second order are of crucial importance in the study of differential equations for two main reasons. The first is that linear equations have a rich theoretical structure that underlies a number of systematic methods of solution. Further, a substantial portion of this structure and these methods are understandable at a fairly elementary mathematical level. In order to present the key ideas in the simplest possible context, we describe them in this chapter for second order equations. Another reason to study second order linear equations is that they are vital to any serious investigation of the classical areas of mathematical physics. One cannot go very far in the development of fluid mechanics, heat conduction, wave motion, or electromagnetic phenomena without finding it necessary to solve second order linear differential equations. As an example, we discuss the oscillations of some basic mechanical and electrical systems at the end of the chapter.
3.1 Homogeneous Equations with Constant Coefficients A second order ordinary differential equation has the form d2 y dy = f t,y, , dt dt 2
(1)
where f is some given function. Usually, we will denote the independent variable by t since time is often the independent variable in physical problems, but sometimes we
129
130
Chapter 3. Second Order Linear Equations
will use x instead. We will use y, or occasionally some other letter, to designate the dependent variable. Equation (1) is said to be linear if the function f has the form dy dy = g(t) − p(t) − q(t)y, (2) f t, y, dt dt that is, if f is linear in y and y . In Eq. (2) g, p, and q are specified functions of the independent variable t but do not depend on y. In this case we usually rewrite Eq. (1) as y + p(t)y + q(t)y = g(t),
(3)
where the primes denote differentiation with respect to t. Instead of Eq. (3), we often see the equation P(t)y + Q(t)y + R(t)y = G(t).
(4)
Of course, if P(t) = 0, we can divide Eq. (4) by P(t) and thereby obtain Eq. (3) with p(t) =
Q(t) , P(t)
q(t) =
R(t) , P(t)
g(t) =
G(t) . P(t)
(5)
In discussing Eq. (3) and in trying to solve it, we will restrict ourselves to intervals in which p, q, and g are continuous functions.1 If Eq. (1) is not of the form (3) or (4), then it is called nonlinear. Analytical investigations of nonlinear equations are relatively difficult, so we will have little to say about them in this book. Numerical or geometical approaches are often more appropriate, and these are discussed in Chapters 8 and 9. In addition, there are two special types of second order nonlinear equations that can be solved by a change of variables that reduces them to first order equations. This procedure is outlined in Problems 28 through 43. An initial value problem consists of a differential equation such as Eq. (1), (3), or (4) together with a pair of initial conditions y(t0 ) = y0 ,
y (t0 ) = y0 ,
(6)
where y0 and y0 are given numbers. Observe that the initial conditions for a second order equation prescribe not only a particular point (t0 , y0 ) through which the graph of the solution must pass, but also the slope y0 of the graph at that point. It is reasonable to expect that two initial conditions are needed for a second order equation because, roughly speaking, two integrations are required to find a solution and each integration introduces an arbitrary constant. Presumably, two initial conditions will suffice to determine values for these two constants. A second order linear equation is said to be homogeneous if the term g(t) in Eq. (3), or the term G(t) in Eq. (4), is zero for all t. Otherwise, the equation is called nonhomogeneous. As a result, the term g(t), or G(t), is sometimes called the nonhomogeneous term. We begin our discussion with homogeneous equations, which we will write in the form P(t)y + Q(t)y + R(t)y = 0. 1
(7)
There is a corresponding treatment of higher order linear equations in Chapter 4. If you wish, you may read the appropriate parts of Chapter 4 in parallel with Chapter 3.
131
3.1 Homogeneous Equations with Constant Coefficients
Later, in Sections 3.6 and 3.7, we will show that once the homogeneous equation has been solved, it is always possible to solve the corresponding nonhomogeneous equation (4), or at least to express the solution in terms of an integral. Thus the problem of solving the homogeneous equation is the more fundamental one. In this chapter we will concentrate our attention on equations in which the functions P, Q, and R are constants. In this case, Eq. (7) becomes ay + by + cy = 0,
(8)
where a, b, and c are given constants. It turns out that Eq. (8) can always be solved easily in terms of the elementary functions of calculus. On the other hand, it is usually much more difficult to solve Eq. (7) if the coefficients are not constants, and a treatment of that case is deferred until Chapter 5. Before taking up Eq. (8), let us first gain some experience by looking at a simple, but typical, example. Consider the equation y − y = 0,
(9)
which is just Eq. (8) with a = 1, b = 0, and c = −1. In words, Eq. (9) says that we seek a function with the property that the second derivative of the function is the same as the function itself. A little thought will probably produce at least one wellknown function from calculus with this property, namely, y1 (t) = et , the exponential function. A little more thought may also produce a second function, y2 (t) = e−t . Some further experimentation reveals that constant multiples of these two solutions are also solutions. For example, the functions 2et and 5e−t also satisfy Eq. (9), as you can verify by calculating their second derivatives. In the same way, the functions c1 y1 (t) = c1 et and c2 y2 (t) = c2 e−t satisfy the differential equation (9) for all values of the constants c1 and c2 . Next, it is of paramount importance to notice that any sum of solutions of Eq. (9) is also a solution. In particular, since c1 y1 (t) and c2 y2 (t) are solutions of Eq. (9), so is the function y = c1 y1 (t) + c2 y2 (t) = c1 et + c2 e−t
(10)
for any values of c1 and c2 . Again, this can be verified by calculating the second derivative y from Eq. (10). We have y = c1 et − c2 e−t and y = c1 et + c2 e−t ; thus y is the same as y, and Eq. (9) is satisfied. Let us summarize what we have done so far in this example. Once we notice that the functions y1 (t) = et and y2 (t) = e−t are solutions of Eq. (9), it follows that the general linear combination (10) of these functions is also a solution. Since the coefficients c1 and c2 in Eq. (10) are arbitrary, this expression represents a doubly infinite family of solutions of the differential equation (9). It is now possible to consider how to pick out a particular member of this infinite family of solutions that also satisfies a given set of initial conditions. For example, suppose that we want the solution of Eq. (9) that also satisfies the initial conditions y(0) = 2,
y (0) = −1.
(11)
In other words, we seek the solution that passes through the point (0, 2) and at that point has the slope −1. First, we set t = 0 and y = 2 in Eq. (10); this gives the equation c1 + c2 = 2.
(12)
132
Chapter 3. Second Order Linear Equations
Next, we differentiate Eq. (10) with the result that y = c1 et − c2 e−t . Then, setting t = 0 and y = −1, we obtain c1 − c2 = −1.
(13)
By solving Eqs. (12) and (13) simultaneously for c1 and c2 we find that c1 = 12 ,
c2 = 32 .
(14)
Finally, inserting these values in Eq. (10), we obtain y = 12 et + 32 e−t ,
(15)
the solution of the initial value problem consisting of the differential equation (9) and the initial conditions (11). We now return to the more general equation (8), ay + by + cy = 0, which has arbitrary (real) constant coefficients. Based on our experience with Eq. (9), let us also seek exponential solutions of Eq. (8). Thus we suppose that y = er t , where r is a parameter to be determined. Then it follows that y = r er t and y = r 2 er t . By substituting these expressions for y, y , and y in Eq. (8), we obtain (ar 2 + br + c)er t = 0, or, since er t = 0, ar 2 + br + c = 0.
(16)
Equation (16) is called the characteristic equation for the differential equation (8). Its significance lies in the fact that if r is a root of the polynomial equation (16), then y = er t is a solution of the differential equation (8). Since Eq. (16) is a quadratic equation with real coefficients, it has two roots, which may be real and different, real but repeated, or complex conjugates. We consider the first case here, and the latter two cases in Sections 3.4 and 3.5. Assuming that the roots of the characteristic equation (16) are real and different, let them be denoted by r1 and r2 , where r1 = r2 . Then y1 (t) = er1 t and y2 (t) = er2 t are two solutions of Eq. (8). Just as in the preceding example, it now follows that y = c1 y1 (t) + c2 y2 (t) = c1 er1 t + c2 er2 t
(17)
is also a solution of Eq. (8). To verify that this is so, we can differentiate the expression in Eq. (17); hence y = c1 r 1 e r 1 t + c2 r 2 e r 2 t
(18)
y = c1r12 er1 t + c2r22 er2 t .
(19)
and
Substituting these expressions for y, y , and y in Eq. (8) and rearranging terms, we obtain ay + by + cy = c1 (ar12 + br1 + c)er1 t + c2 (ar22 + br2 + c)er2 t .
(20)
133
3.1 Homogeneous Equations with Constant Coefficients
The quantity in each of the parentheses on the right side of Eq. (20) is zero because r1 and r2 are roots of Eq. (16); therefore, y as given by Eq. (17) is indeed a solution of Eq. (8), as we wished to verify. Now suppose that we want to find the particular member of the family of solutions (17) that satisfies the initial conditions (6), y (t0 ) = y0 .
y(t0 ) = y0 ,
By substituting t = t0 and y = y0 in Eq. (17), we obtain c1 er1 t0 + c2 er2 t0 = y0 .
(21)
Similarly, setting t = t0 and y = y0 in Eq. (18) gives c1r1 er1 t0 + c2r2 er2 t0 = y0 .
(22)
On solving Eqs. (21) and (22) simultaneously for c1 and c2 , we find that c1 =
y0 − y0r2 −r t e 1 0, r1 − r2
c2 =
y0r1 − y0 −r t e 2 0. r1 − r2
(23)
Thus, no matter what initial conditions are assigned, that is, regardless of the values of t0 , y0 , and y0 in Eqs. (6), it is always possible to determine c1 and c2 so that the initial conditions are satisfied; moreover, there is only one possible choice of c1 and c2 for each set of initial conditions. With the values of c1 and c2 given by Eq. (23), the expression (17) is the solution of the initial value problem ay + by + cy = 0,
y(t0 ) = y0 ,
y (t0 ) = y0 .
(24)
It is possible to show, on the basis of the fundamental theorem cited in the next section, that all solutions of Eq. (8) are included in the expression (17), at least for the case in which the roots of Eq. (16) are real and different. Therefore, we call Eq. (17) the general solution of Eq. (8). The fact that any possible initial conditions can be satisfied by the proper choice of the constants in Eq. (17) makes more plausible the idea that this expression does include all solutions of Eq. (8).
Find the general solution of EXAMPLE
1
y + 5y + 6y = 0.
(25)
We assume that y = e , and it then follows that r must be a root of the characteristic equation rt
r 2 + 5r + 6 = (r + 2)(r + 3) = 0. Thus the possible values of r are r1 = −2 and r2 = −3; the general solution of Eq. (25) is y = c1 e−2t + c2 e−3t .
(26)
Find the solution of the initial value problem EXAMPLE
2
y + 5y + 6y = 0,
y(0) = 2,
y (0) = 3.
(27)
134
Chapter 3. Second Order Linear Equations
The general solution of the differential equation was found in Example 1 and is given by Eq. (26). To satisfy the first initial condition we set t = 0 and y = 2 in Eq. (26); thus c1 and c2 must satisfy c1 + c2 = 2.
(28)
To use the second initial condition we must first differentiate Eq. (26). This gives y = −2c1 e−2t − 3c2 e−3t . Then, setting t = 0 and y = 3, we obtain −2c1 − 3c2 = 3.
(29)
By solving Eqs. (28) and (29) we find that c1 = 9 and c2 = −7. Using these values in the expression (26), we obtain the solution y = 9e−2t − 7e−3t
(30)
of the initial value problem (27). The graph of the solution is shown in Figure 3.1.1. y
2 y = 9e–2 t – 7e–3t 1
0.5
1
1.5
t
2
FIGURE 3.1.1 Solution of y + 5y + 6y = 0, y(0) = 2, y (0) = 3.
Find the solution of the initial value problem EXAMPLE
3
4y − 8y + 3y = 0,
y(0) = 2,
y (0) =
1 2
.
(31)
If y = er t , then the characteristic equation is 4r 2 − 8r + 3 = 0 and its roots are r = 3/2 and r = 1/2. Therefore the general solution of the differential equation is y = c1 e3t/2 + c2 et/2 .
(32)
Applying the initial conditions, we obtain the following two equations for c1 and c2 : c1 + c2 = 2,
3 c 2 1
+ 12 c2 =
1 2
.
The solution of these equations is c1 = − 12 , c2 = 52 , and the solution of the initial value problem (31) is y = − 12 e3t/2 + 52 et/2 . Figure 3.1.2 shows the graph of the solution.
(33)
135
3.1 Homogeneous Equations with Constant Coefficients y
2 y=–
1 3t/2 e 2
+
5 t/2 e 2
1
0.5
1
1.5
2
t
–1
FIGURE 3.1.2 Solution of 4y − 8y + 3y = 0, y(0) = 2, y (0) = 0.5.
EXAMPLE
4
The solution (30) of the initial value problem (27) initially increases (because its initial slope is positive) but eventually approaches zero (because both terms involve negative exponential functions). Therefore the solution must have a maximum point and the graph in Figure 3.1.1 confirms this. Determine the location of this maximum point. One can estimate the coordinates of the maximum point from the graph, but to find them more precisely we seek the point where the solution has a horizontal tangent line. By differentiating the solution (30), y = 9e−2t − 7e−3t , with respect to t we obtain y = −18e−2t + 21e−3t .
(34)
3t
Setting y equal to zero and multiplying by e , we find that the critical value tc satisfies et = 7/6; hence tc = ln(7/6) ∼ = 0.15415.
(35)
The corresponding maximum value y M is given by 108 ∼ (36) = 2.20408. 49 In this example the initial slope is 3, but the solution of the given differential equation behaves in a similar way for any other positive initial slope. In Problem 26 you are asked to determine how the coordinates of the maximum point depend on the initial slope. y M = 9e−2tc − 7e−3tc =
Returning to the equation ay + by + cy = 0 with arbitrary coefficients, recall that when r1 = r2 , its general solution (17) is the sum of two exponential functions. Therefore the solution has a relatively simple geometrical behavior: as t increases, the magnitude of the solution either tends to zero (when both exponents are negative) or else grows rapidly (when at least one exponent is positive). These two cases are illustrated by the solutions of Examples 2 and 3, which are shown in Figures 3.1.1 and 3.1.2, respectively. There is also a third case that occurs less often; the solution approaches a constant when one exponent is zero and the other is negative.
136
PROBLEMS
Chapter 3. Second Order Linear Equations
In each of Problems 1 through 8 find the general solution of the given differential equation. 1. 3. 5. 7.
y + 2y − 3y = 0 6y − y − y = 0 y + 5y = 0 y − 9y + 9y = 0
2. 4. 6. 8.
y + 3y + 2y = 0 2y − 3y + y = 0 4y − 9y = 0 y − 2y − 2y = 0
In each of Problems 9 through 16 find the solution of the given initial value problem. Sketch the graph of the solution and describe its behavior as t increases. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 䉴
y(0) = 1, y (0) = 1 y + y − 2y = 0, y + 4y + 3y = 0, y(0) = 2, y (0) = −1 6y − 5y + y = 0, y(0) = 4, y (0) = 0 y + 3y = 0, y(0) = −2, y (0) = 3 y + 5y + 3y = 0, y(0) = 1, y (0) = 0 2y + y − 4y = 0, y(0) = 0, y (0) = 1 y + 8y − 9y = 0, y(1) = 1, y (1) = 0 4y − y = 0, y(−2) = 1, y (−2) = −1 Find a differential equation whose general solution is y = c1 e2t + c2 e−3t . Find a differential equation whose general solution is y = c1 e−t/2 + c2 e−2t . Find the solution of the initial value problem y − y = 0,
y(0) = 54 ,
y (0) = − 34 .
Plot the solution for 0 ≤ t ≤ 2 and determine its minimum value. 20. Find the solution of the initial value problem 2y − 3y + y = 0,
y(0) = 2,
y (0) = 12 .
Then determine the maximum value of the solution and also find the point where the solution is zero. 21. Solve the initial value problem y − y − 2y = 0, y(0) = α, y (0) = 2. Then find α so that the solution approaches zero as t → ∞. 22. Solve the initial value problem 4y − y = 0, y(0) = 2, y (0) = β. Then find β so that the solution approaches zero as t → ∞. In each of Problems 23 and 24 determine the values of α, if any, for which all solutions tend to zero as t → ∞; also determine the values of α, if any, for which all (nonzero) solutions become unbounded as t → ∞. 23. y − (2α − 1)y + α(α − 1)y = 0 䉴 25. Consider the initial value problem 2y + 3y − 2y = 0,
24. y + (3 − α)y − 2(α − 1)y = 0 y(0) = 1,
y (0) = −β,
where β > 0. (a) Solve the initial value problem. (b) Plot the solution when β = 1. Find the coordinates (t0 ,y0 ) of the minimum point of the solution in this case. (c) Find the smallest value of β for which the solution has no minimum point. 䉴 26. Consider the initial value problem (see Example 4) y + 5y + 6y = 0, where β > 0. (a) Solve the initial value problem.
y(0) = 2,
y (0) = β,
137
3.2 Fundamental Solutions of Linear Homogeneous Equations
(b) Determine the coordinates tm and ym of the maximum point of the solution as functions of β. (c) Determine the smallest value of β for which ym ≥ 4. (d) Determine the behavior of tm and ym as β → ∞.
27. Find an equation of the form ay + by + cy = 0 for which all solutions approach a multiple of e−t as t → ∞.
Equations with the Dependent Variable Missing. For a second order differential equation of the form y = f (t, y ), the substitution v = y , v = y leads to a first order equation of the form v = f (t, v). If this equation can be solved for v, then y can be obtained by integrating dy/dt = v. Note that one arbitrary constant is obtained in solving the first order equation for v, and a second is introduced in the integration for y. In each of Problems 28 through 33 use this substitution to solve the given equation. 28. t 2 y + 2t y − 1 = 0, 30. y + t (y )2 = 0 32. y + y = e−t
t >0
29. t y + y = 1, t >0 31. 2t 2 y + (y )3 = 2t y , 33. t 2 y = (y )2 , t >0
t >0
Equations with the Independent Variable Missing. If a second order differential equation has the form y = f (y, y ), then the independent variable t does not appear explicitly, but only through the dependent variable y. If we let v = y , then we obtain dv/dt = f (y, v). Since the right side of this equation depends on y and v, rather than on t and v, this equation is not of the form of the first order equations discussed in Chapter 2. However, if we think of y as the independent variable, then by the chain rule dv/dt = (dv/dy)(dy/dt) = v(dv/dy). Hence the original differential equation can be written as v(dv/dy) = f (y, v). Provided that this first order equation can be solved, we obtain v as a function of y. A relation between y and t results from solving dy/dt = v(y). Again, there are two arbitrary constants in the final result. In each of Problems 34 through 39 use this method to solve the given differential equation. 34. yy + (y )2 = 0 35. y + y = 0 3 36. y + y(y ) = 0 37. 2y 2 y + 2y(y )2 = 1 3 38. yy − (y ) = 0 39. y + (y )2 = 2e−y Hint: In Problem 39 the transformed equation is a Bernoulli equation. See Problem 27 in Section 2.4. In each of Problems 40 through 43 solve the given initial value problem using the methods of Problems 28 through 39. 40. y y = 2, y(0) = 1, y (0) = 2 2 41. y − 3y = 0, y(0) = 2, y (0) = 4 y(1) = 2, y (1) = −1 42. (1 + t 2 )y + 2t y + 3t −2 = 0, 43. y y − t = 0, y(1) = 2, y (1) = 1
3.2 Fundamental Solutions of Linear Homogeneous Equations In the preceding section we showed how to solve some differential equations of the form ay + by + cy = 0, where a, b, and c are constants. Now we build on those results to provide a clearer picture of the structure of the solutions of all second order linear homogeneous equations. In
138
Chapter 3. Second Order Linear Equations
turn, this understanding will assist us in finding the solutions of other problems that we will encounter later. In developing the theory of linear differential equations, it is helpful to introduce a differential operator notation. Let p and q be continuous functions on an open interval I , that is, for α < t < β. The cases α = −∞, or β = ∞, or both, are included. Then, for any function φ that is twice differentiable on I , we define the differential operator L by the equation L[φ] = φ + pφ + qφ.
(1)
Note that L[φ] is a function on I . The value of L[φ] at a point t is L[φ](t) = φ (t) + p(t)φ (t) + q(t)φ(t). For example, if p(t) = t 2 , q(t) = 1 + t, and φ(t) = sin 3t, then L[φ](t) = (sin 3t) + t 2 (sin 3t) + (1 + t) sin 3t = −9 sin 3t + 3t 2 cos 3t + (1 + t) sin 3t. The operator L is often written as L = D 2 + p D + q, where D is the derivative operator. In this section we study the second order linear homogeneous equation L[φ](t) = 0. Since it is customary to use the symbol y to denote φ(t), we will usually write this equation in the form L[y] = y + p(t)y + q(t)y = 0.
(2)
With Eq. (2) we associate a set of initial conditions y(t0 ) = y0 ,
y (t0 ) = y0 ,
(3)
y0
are given real numbers. We where t0 is any point in the interval I , and y0 and would like to know whether the initial value problem (2), (3) always has a solution, and whether it may have more than one solution. We would also like to know whether anything can be said about the form and structure of solutions that might be helpful in finding solutions of particular problems. Answers to these questions are contained in the theorems in this section. The fundamental theoretical result for initial value problems for second order linear equations is stated in Theorem 3.2.1, which is analogous to Theorem 2.4.1 for first order linear equations. The result applies equally well to nonhomogeneous equations, so the theorem is stated in that form.
Theorem 3.2.1
Consider the initial value problem y + p(t)y + q(t)y = g(t),
y(t0 ) = y0 ,
y (t0 ) = y0 ,
(4)
where p, q, and g are continuous on an open interval I . Then there is exactly one solution y = φ(t) of this problem, and the solution exists throughout the interval I . We emphasize that the theorem says three things: 1. 2.
The initial value problem has a solution; in other words, a solution exists. The initial value problem has only one solution; that is, the solution is unique.
139
3.2 Fundamental Solutions of Linear Homogeneous Equations
3.
The solution φ is defined throughout the interval I where the coefficients are continuous and is at least twice differentiable there.
For some problems some of these assertions are easy to prove. For example, we found in Section 3.1 that the initial value problem y − y = 0,
y (0) = −1
y(0) = 2,
(5)
has the solution y = 12 et + 32 e−t .
(6)
The fact that we found a solution certainly establishes that a solution exists for this initial value problem. Further, the solution (6) is twice differentiable, indeed differentiable any number of times, throughout the interval (−∞, ∞) where the coefficients in the differential equation are continuous. On the other hand, it is not obvious, and is more difficult to show, that the initial value problem (5) has no solutions other than the one given by Eq. (6). Nevertheless, Theorem 3.2.1 states that this solution is indeed the only solution of the initial value problem (5). However, for most problems of the form (4), it is not possible to write down a useful expression for the solution. This is a major difference between first order and second order linear equations. Therefore, all parts of the theorem must be proved by general methods that do not involve having such an expression. The proof of Theorem 3.2.1 is fairly difficult, and we do not discuss it here.2 We will, however, accept Theorem 3.2.1 as true and make use of it whenever necessary.
Find the longest interval in which the solution of the initial value problem EXAMPLE
(t 2 − 3t)y + t y − (t + 3)y = 0,
1
y(1) = 2,
y (1) = 1
is certain to exist. If the given differential equation is written in the form of Eq. (4), then p(t) = 1/(t − 3), q(t) = −(t + 3)/t (t − 3), and g(t) = 0. The only points of discontinuity of the coefficients are t = 0 and t = 3. Therefore, the longest open interval, containing the initial point t = 1, in which all the coefficients are continuous is 0 < t < 3. Thus, this is the longest interval in which Theorem 3.2.1 guarantees that the solution exists.
Find the unique solution of the initial value problem EXAMPLE
y + p(t)y + q(t)y = 0,
2
y(t0 ) = 0,
y (t0 ) = 0,
where p and q are continuous in an open interval I containing t0 . The function y = φ(t) = 0 for all t in I certainly satisfies the differential equation and initial conditions. By the uniqueness part of Theorem 3.2.1 it is the only solution of the given problem. 2
A proof of Theorem 3.2.1 may be found, for example, in Chapter 6, Section 8 of the book by Coddington listed in the references.
140
Chapter 3. Second Order Linear Equations
Let us now assume that y1 and y2 are two solutions of Eq. (2); in other words, L[y1 ] = y1 + py1 + qy1 = 0,
(7)
and similarly for y2 . Then, just as in the examples in Section 3.1, we can generate more solutions by forming linear combinations of y1 and y2 . We state this result as a theorem.
Theorem 3.2.2
(Principle of Superposition) If y1 and y2 are two solutions of the differential equation (2), L[y] = y + p(t)y + q(t)y = 0, then the linear combination c1 y1 + c2 y2 is also a solution for any values of the constants c1 and c2 .
A special case of Theorem 3.2.2 occurs if either c1 or c2 is zero. Then we conclude that any multiple of a solution of Eq. (2) is also a solution. To prove Theorem 3.2.2 we need only substitute y = c1 y1 (t) + c2 y2 (t)
(8)
for y in Eq. (2). The result is L[c1 y1 + c2 y2 ] = [c1 y1 + c2 y2 ] + p[c1 y1 + c2 y2 ] + q[c1 y1 + c2 y2 ] = c1 y1 + c2 y2 + c1 py1 + c2 py2 + c1 qy1 + c2 qy2 = c1 [y1 + py1 + qy1 ] + c2 [y2 + py2 + qy2 ] = c1 L[y1 ] + c2 L[y2 ]. Since L[y1 ] = 0 and L[y2 ] = 0, it follows that L[c1 y1 + c2 y2 ] = 0 also. Therefore, regardless of the values of c1 and c2 , y as given by Eq. (8) does satisfy the differential equation (2) and the proof of Theorem 3.2.2 is complete. Theorem 3.2.2 states that, beginning with only two solutions of Eq. (2), we can construct a doubly infinite family of solutions by means of Eq. (8). The next question is whether all solutions of Eq. (2) are included in Eq. (8), or whether there may be other solutions of a different form. We begin to address this question by examining whether the constants c1 and c2 in Eq. (8) can be chosen so as to satisfy the initial conditions (3). These initial conditions require c1 and c2 to satisfy the equations c1 y1 (t0 ) + c2 y2 (t0 ) = y0 , c1 y1 (t0 ) + c2 y2 (t0 ) = y0 .
(9)
Upon solving Eqs. (9) for c1 and c2 , we find that c1 =
y0 y2 (t0 ) − y0 y2 (t0 ) , y1 (t0 )y2 (t0 ) − y1 (t0 )y2 (t0 )
c2 =
−y0 y1 (t0 ) + y0 y1 (t0 ) , y1 (t0 )y2 (t0 ) − y1 (t0 )y2 (t0 )
(10)
141
3.2 Fundamental Solutions of Linear Homogeneous Equations
or, in terms of determinants, y0 y2 (t0 ) y y2 (t0 ) 0 c1 = y1 (t0 ) y2 (t0 ) y (t ) y2 (t0 ) 1 0
,
y1 (t0 ) y (t ) 1 0
c2 = y1 (t0 ) y (t ) 1 0
y0 y0
. y2 (t0 ) y2 (t0 )
(11)
With these values for c1 and c2 the expression (8) satisfies the initial conditions (3) as well as the differential equation (2). In order for the expressions for c1 and c2 in Eqs. (10) or (11) to make sense, it is necessary that the denominators be nonzero. For both c1 and c2 the denominator is the same, namely, the determinant y (t ) y2 (t0 ) W = 1 0 (12) = y1 (t0 )y2 (t0 ) − y1 (t0 )y2 (t0 ). y2 (t0 ) y1 (t0 ) The determinant W is called the Wronskian3 determinant, or simply the Wronskian, of the solutions y1 and y2 . Sometimes we use the more extended notation W (y1 , y2 )(t0 ) to stand for the expression on the right side of Eq. (12), thereby emphasizing that the Wronskian depends on the functions y1 and y2 , and that it is evaluated at the point t0 . The preceding argument suffices to establish the following result.
Theorem 3.2.3
Suppose that y1 and y2 are two solutions of Eq. (2), L[y] = y + p(t)y + q(t)y = 0, and that the Wronskian W = y1 y2 − y1 y2 is not zero at the point t0 where the initial conditions (3), y(t0 ) = y0 ,
y (t0 ) = y0 ,
are assigned. Then there is a choice of the constants c1 , c2 for which y = c1 y1 (t) + c2 y2 (t) satisfies the differential equation (2) and the initial conditions (3).
EXAMPLE
In Example 1 of Section 3.1 we found that y1 (t) = e−2t and y2 (t) = e−3t are solutions of the differential equation
3
y + 5y + 6y = 0. Find the Wronskian of y1 and y2 . The Wronskian of these two functions is e−2t e−3t W = −2t −2e −3e−3t 3
= −e−5t .
Wronskian determinants are named for Jo´sef Maria Hoe¨ne´-Wronski (1776 –1853), who was born in Poland but spent most of his life in France. Wronski was a gifted but troubled man, and his life was marked by frequent heated disputes with other individuals and institutions.
142
Chapter 3. Second Order Linear Equations
Since W is nonzero for all values of t, the functions y1 and y2 can be used to construct solutions of the given differential equation, together with initial conditions prescribed at any value of t. One such initial value problem was solved in Example 2 of Section 3.1.
The next theorem justifies the term “general solution” that we introduced in Section 3.1 for the linear combination c1 y1 + c2 y2 .
Theorem 3.2.4
If y1 and y2 are two solutions of the differential equation (2), L[y] = y + p(t)y + q(t)y = 0, and if there is a point t0 where the Wronskian of y1 and y2 is nonzero, then the family of solutions y = c1 y1 (t) + c2 y2 (t) with arbitrary coefficients c1 and c2 includes every solution of Eq. (2). Let φ be any solution of Eq. (2). To prove the theorem we must show that φ is included in the linear combination c1 y1 + c2 y2 ; that is, for some choice of the constants c1 and c2 , the linear combination is equal to φ. Let t0 be a point where the Wronskian of y1 and y2 is nonzero. Then evaluate φ and φ at this point and call these values y0 and y0 , respectively; thus y0 = φ(t0 ),
y0 = φ (t0 ).
Next, consider the initial value problem y + p(t)y + q(t)y = 0,
y(t0 ) = y0 ,
y (t0 ) = y0 .
(13)
The function φ is certainly a solution of this initial value problem. On the other hand, since W (y1 ,y2 )(t0 ) is nonzero, it is possible (by Theorem 3.2.3) to choose c1 and c2 so that y = c1 y1 (t) + c2 y2 (t) is also a solution of the initial value problem (13). In fact, the proper values of c1 and c2 are given by Eqs. (10) or (11). The uniqueness part of Theorem 3.2.1 guarantees that these two solutions of the same initial value problem are actually the same function; thus, for the proper choice of c1 and c2 , φ(t) = c1 y1 (t) + c2 y2 (t), and therefore φ is included in the family of functions of c1 y1 + c2 y2 . Finally, since φ is an arbitrary solution of Eq. (2), it follows that every solution of this equation is included in this family. This completes the proof of Theorem 3.2.4. Theorem 3.2.4 states that, as long as the Wronskian of y1 and y2 is not everywhere zero, the linear combination c1 y1 + c2 y2 contains all solutions of Eq. (2). It is therefore natural (and we have already done this in the preceding section) to call the expression y = c1 y1 (t) + c2 y2 (t) with arbitrary constant coefficients the general solution of Eq. (2). The solutions y1 and y2 , with a nonzero Wronskian, are said to form a fundamental set of solutions of Eq. (2).
143
3.2 Fundamental Solutions of Linear Homogeneous Equations
To restate the result of Theorem 3.2.4 in slightly different language: To find the general solution, and therefore all solutions, of an equation of the form (2), we need only find two solutions of the given equation whose Wronskian is nonzero. We did precisely this in several examples in Section 3.1, although there we did not calculate the Wronskians. You should now go back and do that, thereby verifying that all the solutions we called “general solutions” in Section 3.1 do satisfy the necessary Wronskian condition. Alternatively, the following example includes all those mentioned in Section 3.1, as well as many other problems of a similar type.
EXAMPLE
4
Suppose that y1 (t) = er1 t and y2 (t) = er2 t are two solutions of an equation of the form (2). Show that they form a fundamental set of solutions if r1 = r2 . We calculate the Wronskian of y1 and y2 : rt e1 er2 t W = = (r2 − r1 ) exp[(r1 + r2 )t]. r 1 er 1 t r 2 er 2 t Since the exponential function is never zero, and since r2 − r1 = 0 by the statement of the problem, it follows that W is nonzero for every value of t. Consequently, y1 and y2 form a fundamental set of solutions.
EXAMPLE
5
Show that y1 (t) = t 1/2 and y2 (t) = t −1 form a fundamental set of solutions of 2t 2 y + 3t y − y = 0,
t > 0.
(14)
We will show in Section 5.5 how to solve Eq. (14); see also Problem 38 in Section 3.4. However, at this stage we can verify by direct substitution that y1 and y2 are solutions of the differential equation. Since y1 (t) = 12 t −1/2 and y1 (t) = − 14 t −3/2 , we have 2t 2 (− 14 t −3/2 ) + 3t ( 12 t −1/2 ) − t 1/2 = (− 12 +
3 2
− 1)t 1/2 = 0.
Similarly, y2 (t) = −t −2 and y2 (t) = 2t −3 , so 2t 2 (2t −3 ) + 3t (−t −2 ) − t −1 = (4 − 3 − 1)t −1 = 0. Next we calculate the Wronskian W of y1 and y2 : t 1/2 t −1 W = 1 −1/2 = − 32 t −3/2 . t −t −2 2
(15)
Since W = 0 for t > 0, we conclude that y1 and y2 form a fundamental set of solutions there.
In several cases, we have been able to find a fundamental set of solutions, and therefore the general solution, of a given differential equation. However, this is often a difficult task, and the question may arise as to whether or not a differential equation of the form (2) always has a fundamental set of solutions. The following theorem provides an affirmative answer to this question.
144
Chapter 3. Second Order Linear Equations
Theorem 3.2.5
Consider the differential equation (2), L[y] = y + p(t)y + q(t)y = 0, whose coefficients p and q are continuous on some open interval I . Choose some point t0 in I . Let y1 be the solution of Eq. (2) that also satisfies the initial conditions y(t0 ) = 1,
y (t0 ) = 0,
and let y2 be the solution of Eq. (2) that satisfies the initial conditions y(t0 ) = 0,
y (t0 ) = 1.
Then y1 and y2 form a fundamental set of solutions of Eq. (2). First observe that the existence of the functions y1 and y2 is assured by the existence part of Theorem 3.2.1. To show that they form a fundamental set of solutions we need only calculate their Wronskian at t0 : y1 (t0 ) y2 (t0 ) 1 0 = = 1. W (y1 ,y2 )(t0 ) = 1 y2 (t0 ) 0 y1 (t0 ) Since their Wronskian is not zero at the point t0 , the functions y1 and y2 do form a fundamental set of solutions, thus completing the proof of Theorem 3.2.5. Note that the difficult part of this proof, demonstrating the existence of a pair of solutions, is taken care of by reference to Theorem 3.2.1. Note also that Theorem 3.2.5 does not address the question of how to solve the specified initial value problems so as to find the functions y1 and y2 indicated in the theorem. Nevertheless, it may be reassuring to know that a fundamental set of solutions always exists.
EXAMPLE
Find the fundamental set of solutions specified by Theorem 3.2.5 for the differential equation
6
y − y = 0,
(16)
using the initial point t0 = 0. In Section 3.1 we noted that two solutions of Eq. (16) are y1 (t) = et and y2 (t) = −t e . The Wronskian of these solutions is W (y1 ,y2 )(t) = −2 = 0, so they form a fundamental set of solutions. However, they are not the fundamental solutions indicated by Theorem 3.2.5 because they do not satisfy the initial conditions mentioned in that theorem at the point t = 0. To find the fundamental solutions specified by the theorem we need to find the solutions satisfying the proper initial conditions. Let us denote by y3 (t) the solution of Eq. (16) that satisfies the initial conditions y(0) = 1,
y (0) = 0.
(17)
The general solution of Eq. (16) is y = c1 et + c2 e−t , and the initial conditions (17) are satisfied if c1 = 1/2 and c2 = 1/2. Thus y3 (t) = 12 et + 12 e−t = cosh t.
(18)
145
3.2 Fundamental Solutions of Linear Homogeneous Equations
Similarly, if y4 (t) satisfies the initial conditions y(0) = 0,
y (0) = 1,
(19)
then y4 (t) = 12 et − 12 e−t = sinh t. Since the Wronskian of y3 and y4 is W (y3 ,y4 )(t) = cosh2 t − sinh2 t = 1, these functions also form a fundamental set of solutions, as stated by Theorem 3.2.5. Therefore, the general solution of Eq. (16) can be written as y = k1 cosh t + k2 sinh t,
(20)
as well as in the form (18). We have used k1 and k2 for the arbitrary constants in Eq. (20) because they are not the same as the constants c1 and c2 in Eq. (18). One purpose of this example is to make clear that a given differential equation has more than one fundamental set of solutions; indeed, it has infinitely many. As a rule, you should choose the set that is most convenient.
We can summarize the discussion in this section as follows. To find the general solution of the differential equation y + p(t)y + q(t)y = 0,
α < t < β,
we must first find two functions y1 and y2 that satisfy the differential equation in α < t < β. Then we must make sure that there is a point in the interval where the Wronskian W of y1 and y2 is nonzero. Under these circumstances y1 and y2 form a fundamental set of solutions and the general solution is y = c1 y1 (t) + c2 y2 (t), where c1 and c2 are arbitrary constants. If initial conditions are prescribed at a point in α < t < β where W = 0, then c1 and c2 can be chosen so as to satisfy these conditions.
PROBLEMS
In each of Problems 1 through 6 find the Wronskian of the given pair of functions. e−3t/2 2. cos t, sin t 1. e2t , 3. e−2t , te−2t 4. x, xe x 5. et sin t, et cos t 6. cos2 θ, 1 + cos 2θ In each of Problems 7 through 12 determine the longest interval in which the given initial value problem is certain to have a unique twice differentiable solution. Do not attempt to find the solution. 7. t y + 3y = t, y(1) = 1, y (1) = 2 8. (t − 1)y − 3t y + 4y = sin t, y(−2) = 2, y (−2) = 1 9. t (t − 4)y + 3t y + 4y = 2, y(3) = 0, y (3) = −1 10. y + (cos t)y + 3(ln |t|)y = 0, y(2) = 3, y (2) = 1 11. (x − 3)y + x y + (ln |x|)y = 0, y(1) = 0, y (1) = 1 12. (x − 2)y + y + (x − 2)(tan x)y = 0, y(3) = 1, y (3) = 2
146
Chapter 3. Second Order Linear Equations
13. Verify that y1 (t) = t 2 and y2 (t) = t −1 are two solutions of the differential equation t 2 y − 2y = 0 for t > 0. Then show that c1 t 2 + c2 t −1 is also a solution of this equation for any c1 and c2 . 14. Verify that y1 (t) = 1 and y2 (t) = t 1/2 are solutions of the differential equation yy + (y )2 = 0 for t > 0. Then show that c1 + c2 t 1/2 is not, in general, a solution of this equation. Explain why this result does not contradict Theorem 3.2.2. 15. Show that if y = φ(t) is a solution of the differential equation y + p(t)y + q(t)y = g(t), where g(t) is not always zero, then y = cφ(t), where c is any constant other than 1, is not a solution. Explain why this result does not contradict the remark following Theorem 3.2.2. 16. Can y = sin(t 2 ) be a solution on an interval containing t = 0 of an equation y + p(t)y + q(t)y = 0 with continuous coefficients? Explain your answer. 17. If the Wronskian W of f and g is 3e4t , and if f (t) = e2t , find g(t). 18. If the Wronskian W of f and g is t 2 et , and if f (t) = t, find g(t). 19. If W ( f, g) is the Wronskian of f and g, and if u = 2 f − g, v = f + 2g, find the Wronskian W (u, v) of u and v in terms of W ( f, g). 20. If the Wronskian of f and g is t cos t − sin t, and if u = f + 3g, v = f − g, find the Wronskian of u and v. In each of Problems 21 and 22 find the fundamental set of solutions specified by Theorem 3.2.5 for the given differential equation and initial point. 21. y + y − 2y = 0,
t0 = 0
22. y + 4y + 3y = 0,
t0 = 1
In each of Problems 23 through 26 verify that the functions y1 and y2 are solutions of the given differential equation. Do they constitute a fundamental set of solutions? 23. y + 4y = 0; y1 (t) = cos 2t, y2 (t) = sin 2t 24. y − 2y + y = 0; y1 (t) = et , y2 (t) = tet 2 25. x y − x(x + 2)y + (x + 2)y = 0, x > 0; y1 (x) = x, y2 (x) = xe x 26. (1 − x cot x)y − x y + y = 0, 0 < x < π ; y1 (x) = x, y2 (x) = sin x
27. Exact Equations. The equation P(x)y + Q(x)y + R(x)y = 0 is said to be exact if it can be written in the form [P(x)y ] + [ f (x)y] = 0, where f (x) is to be determined in terms of P(x), Q(x), and R(x). The latter equation can be integrated once immediately, resulting in a first order linear equation for y that can be solved as in Section 2.1. By equating the coefficients of the preceding equations and then eliminating f (x), show that a necessary condition for exactness is P (x) − Q (x) + R(x) = 0. It can be shown that this is also a sufficient condition.
In each of Problems 28 through 31 use the result of Problem 27 to determine whether the given equation is exact. If so, solve the equation. 29. y + 3x 2 y + x y = 0 28. y + x y + y = 0 30. x y − (cos x)y + (sin x)y = 0, x > 0 31. x 2 y + x y − y = 0, x > 0 32. The Adjoint Equation. If a second order linear homogeneous equation is not exact, it can be made exact by multiplying by an appropriate integrating factor µ(x). Thus we require that µ(x) be such that µ(x)P(x)y + µ(x)Q(x)y + µ(x)R(x)y = 0 can be written in the form [µ(x)P(x)y ] + [ f (x)y] = 0. By equating coefficients in these two equations and eliminating f (x), show that the function µ must satisfy Pµ + (2P − Q)µ + (P − Q + R)µ = 0. This equation is known as the adjoint of the original equation and is important in the advanced theory of differential equations. In general, the problem of solving the adjoint differential equation is as difficult as that of solving the original equation, so only occasionally is it possible to find an integrating factor for a second order equation.
147
3.3 Linear Independence and the Wronskian
In each of Problems 33 through 35 use the result of Problem 32 to find the adjoint of the given differential equation. Bessel’s equation x 2 y + x y + (x 2 − ν 2 )y = 0, (1 − x 2 )y − 2x y + α(α + 1)y = 0, Legendre’s equation y − x y = 0, Airy’s equation For the second order linear equation P(x)y + Q(x)y + R(x)y = 0, show that the adjoint of the adjoint equation is the original equation. 37. A second order linear equation P(x)y + Q(x)y + R(x)y = 0 is said to be self-adjoint if its adjoint is the same as the original equation. Show that a necessary condition for this equation to be self-adjoint is that P (x) = Q(x). Determine whether each of the equations in Problems 33 through 35 is self-adjoint.
33. 34. 35. 36.
3.3 Linear Independence and the Wronskian The representation of the general solution of a second order linear homogeneous differential equation as a linear combination of two solutions whose Wronskian is not zero is intimately related to the concept of linear independence of two functions. This is a very important algebraic idea and has significance far beyond the present context; we briefly discuss it in this section. We will refer to the following basic property of systems of linear homogeneous algebraic equations. Consider the two–by–two system a11 x1 + a12 x2 = 0, a21 x1 + a22 x2 = 0,
(1)
and let = a11 a22 − a12 a21 be the corresponding determinant of coefficients. Then x = 0, y = 0 is the only solution of the system (1) if and only if = 0. Further, the system (1) has nonzero solutions if and only if = 0. Two functions f and g are said to be linearly dependent on an interval I if there exist two constants k1 and k2 , not both zero, such that k1 f (t) + k2 g(t) = 0
(2)
for all t in I . The functions f and g are said to be linearly independent on an interval I if they are not linearly dependent; that is, Eq. (2) holds for all t in I only if k1 = k2 = 0. In Section 4.1 these definitions are extended to an arbitrary number of functions. Although it may be difficult to determine whether a large set of functions is linearly independent or linearly dependent, it is usually easy to answer this question for a set of only two functions: they are linearly dependent if they are proportional to each other, and linearly independent otherwise. The following examples illustrate these definitions.
EXAMPLE
1
Determine whether the functions sin t and cos(t − π/2) are linearly independent or linearly dependent on an arbitrary interval.
148
Chapter 3. Second Order Linear Equations
The given functions are linearly dependent on any interval since k1 sin t + k2 cos(t − π/2) = 0 for all t if we choose k1 = 1 and k2 = −1.
EXAMPLE
Show that the functions et and e2t are linearly independent on any interval. To establish this result we suppose that
2
k1 et + k2 e2t = 0
(3)
for all t in the interval; we must then show that k1 = k2 = 0. Choose two points t0 and t1 in the interval, where t1 = t0 . Evaluating Eq. (3) at these points, we obtain k1 et0 + k2 e2t0 = 0, k1 et1 + k2 e2t1 = 0.
(4)
The determinant of coefficients is et0 e2t1 − e2t0 et1 = et0 et1 (et1 − et0 ). Since this determinant is not zero, it follows that the only solution of Eq. (4) is k1 = k2 = 0. Hence et and e2t are linearly independent.
The following theorem relates linear independence and dependence to the Wronskian.
Theorem 3.3.1
If f and g are differentiable functions on an open interval I and if W ( f, g)(t0 ) = 0 for some point t0 in I , then f and g are linearly independent on I . Moreover, if f and g are linearly dependent on I , then W ( f, g)(t) = 0 for every t in I . To prove the first statement in Theorem 3.3.1, consider a linear combination k1 f (t) + k2 g(t), and suppose that this expression is zero throughout the interval. Evaluating the expression and its derivative at t0 , we have k1 f (t0 ) + k2 g(t0 ) = 0, k1 f (t0 ) + k2 g (t0 ) = 0.
(5)
The determinant of coefficients of Eqs. (5) is precisely W ( f, g)(t0 ), which is not zero by hypothesis. Therefore, the only solution of Eqs. (5) is k1 = k2 = 0, so f and g are linearly independent. The second part of Theorem 3.3.1 follows immediately from the first. Let f and g be linearly dependent, and suppose that the conclusion is false, that is, W ( f, g) is not everywhere zero in I . Then there is a point t0 such that W ( f, g)(t0 ) = 0; by the first part of Theorem 3.3.1 this implies that f and g are linearly independent, which is a contradiction, thus completing the proof.
149
3.3 Linear Independence and the Wronskian
We can apply this result to the two functions f (t) = et and g(t) = e2t discussed in Example 2. For any point t0 we have e t0 e2t0 (6) = e3t0 = 0. W ( f, g)(t0 ) = t0 e 2e2t0 The functions et and e2t are therefore linearly independent on any interval. You should be careful not to read too much into Theorem 3.3.1. In particular, two functions f and g may be linearly independent even though W ( f, g)(t) = 0 for every t in the interval I . This is illustrated in Problem 28. Now let us examine further the properties of the Wronskian of two solutions of a second order linear homogeneous differential equation. The following theorem, perhaps surprisingly, gives a simple explicit formula for the Wronskian of any two solutions of any such equation, even if the solutions themselves are not known.
Theorem 3.3.2
(Abel’s Theorem) 4 If y1 and y2 are solutions of the differential equation L[y] = y + p(t)y + q(t)y = 0,
(7)
where p and q are continuous on an open interval I , then the Wronskian W (y1 , y2 )(t) is given by W (y1 ,y2 )(t) = c exp − p(t) dt , (8) where c is a certain constant that depends on y1 and y2 , but not on t. Further, W (y1 , y2 )(t) is either zero for all t in I (if c = 0) or else is never zero in I (if c = 0). To prove Abel’s theorem we start by noting that y1 and y2 satisfy y1 + p(t)y1 + q(t)y1 = 0, y2 + p(t)y2 + q(t)y2 = 0.
(9)
If we multiply the first equation by −y2 , the second by y1 , and add the resulting equations, we obtain (y1 y2 − y1 y2 ) + p(t)(y1 y2 − y1 y2 ) = 0.
(10)
Next, we let W (t) = W (y1 ,y2 )(t) and observe that W = y1 y2 − y1 y2 .
(11)
Then we can write Eq. (10) in the form W + p(t)W = 0.
(12)
4 The result in Theorem 3.3.2 was derived by the Norwegian mathematician Niels Henrik Abel (1802–1829) in 1827 and is known as Abel’s formula. Abel also showed that there is no general formula for solving a quintic, or fifth degree, polynomial equation in terms of explicit algebraic operations on the coefficients, thereby resolving a question that had been open since the sixteenth century. His greatest contributions, however, were in analysis, particularly in the study of elliptic functions. Unfortunately, his work was not widely noticed until after his death. The distinguished French mathematician Legendre called it a “monument more lasting than bronze.”
150
Chapter 3. Second Order Linear Equations
Equation (12) can be solved immediately since it is both a first order linear equation (Section 2.1) and a separable equation (Section 2.2). Thus W (t) = c exp − p(t) dt , (13) where c is a constant. The value of c depends on which pair of solutions of Eq. (7) is involved. However, since the exponential function is never zero, W (t) is not zero unless c = 0, in which case W (t) is zero for all t, which completes the proof of Theorem 3.3.2. Note that the Wronskians of any two fundamental sets of solutions of the same differential equation can differ only by a multiplicative constant, and that the Wronskian of any fundamental set of solutions can be determined, up to a multiplicative constant, without solving the differential equation.
EXAMPLE
In Example 5 of Section 3.2 we verified that y1 (t) = t 1/2 and y2 (t) = t −1 are solutions of the equation
3
2t 2 y + 3t y − y = 0,
t > 0.
(14)
Verify that the Wronskian of y1 and y2 is given by Eq. (13). From the example just cited we know that W (y1 , y2 )(t) = −(3/2)t −3/2 . To use Eq. (13) we must write the differential equation (14) in the standard form with the coefficient of y equal to 1. Thus we obtain y +
3 1 y − 2 y = 0, 2t 2t
so p(t) = 3/2t. Hence
3 3 dt = c exp − ln t W (y1 , y2 )(t) = c exp − 2t 2 −3/2 . = ct
(15)
Equation (15) gives the Wronskian of any pair of solutions of Eq. (14). For the particular solutions given in this example we must choose c = −3/2. A stronger version of Theorem 3.3.1 can be established if the two functions involved are solutions of a second order linear homogeneous differential equation.
Theorem 3.3.3
Let y1 and y2 be the solutions of Eq. (7), L[y] = y + p(t)y + q(t)y = 0, where p and q are continuous on an open interval I . Then y1 and y2 are linearly dependent on I if and only if W (y1 , y2 )(t) is zero for all t in I . Alternatively, y1 and y2 are linearly independent on I if and only if W (y1 , y2 )(t) is never zero in I . Of course, we know by Theorem 3.3.2 that W (y1 , y2 )(t) is either everywhere zero or nowhere zero in I . In proving Theorem 3.3.3, observe first that if y1 and y2 are linearly
151
3.3 Linear Independence and the Wronskian
dependent, then W (y1 , y2 )(t) is zero for all t in I by Theorem 3.3.1. It remains to prove the converse; that is, if W (y1 , y2 )(t) is zero throughout I , then y1 and y2 are linearly dependent. Let t0 be any point in I ; then necessarily W (y1 , y2 )(t0 ) = 0. Consequently, the system of equations c1 y1 (t0 ) + c2 y2 (t0 ) = 0, c1 y1 (t0 ) + c2 y2 (t0 ) = 0
(16)
for c1 and c2 has a nontrivial solution. Using these values of c1 and c2 , let φ(t) = c1 y1 (t) + c2 y2 (t). Then φ is a solution of Eq. (7), and by Eqs. (16) φ also satisfies the initial conditions φ(t0 ) = 0,
φ (t0 ) = 0.
(17)
Therefore, by the uniqueness part of Theorem 3.2.1, or by Example 2 of Section 3.2, φ(t) = 0 for all t in I . Since φ(t) = c1 y1 (t) + c2 y2 (t) with c1 and c2 not both zero, this means that y1 and y2 are linearly dependent. The alternative statement of the theorem follows immediately. We can now summarize the facts about fundamental sets of solutions, Wronskians, and linear independence in the following way. Let y1 and y2 be solutions of Eq. (7), y + p(t)y + q(t)y = 0, where p and q are continuous on an open interval I . Then the following four statements are equivalent, in the sense that each one implies the other three: 1. 2. 3. 4.
The functions y1 and y2 are a fundamental set of solutions on I . The functions y1 and y2 are linearly independent on I . W (y1 , y2 )(t0 ) = 0 for some t0 in I . W (y1 , y2 )(t) = 0 for all t in I .
It is interesting to note the similarity between second order linear homogeneous differential equations and two-dimensional vector algebra. Two vectors a and b are said to be linearly dependent if there are two scalars k1 and k2 , not both zero, such that k1 a + k2 b = 0; otherwise, they are said to be linearly independent. Let i and j be unit vectors directed along the positive x and y axes, respectively. Since k1 i + k2 j = 0 only if k1 = k2 = 0, the vectors i and j are linearly independent. Further, we know that any vector a with components a1 and a2 can be written as a = a1 i + a2 j, that is, as a linear combination of the two linearly independent vectors i and j. It is not difficult to show that any vector in two dimensions can be expressed as a linear combination of any two linearly independent two-dimensional vectors (see Problem 14). Such a pair of linearly independent vectors is said to form a basis for the vector space of two-dimensional vectors. The term vector space is also applied to other collections of mathematical objects that obey the same laws of addition and multiplication by scalars that geometric vectors do. For example, it can be shown that the set of functions that are twice differentiable on the open interval I forms a vector space. Similarly, the set V of functions satisfying Eq. (7) also forms a vector space. Since every member of V can be expressed as a linear combination of two linearly independent members y1 and y2 , we say that such a pair forms a basis for V . This leads to the conclusion that V is two-dimensional; therefore, it is analogous in many respects to the space of geometric vectors in a plane. Later we find that the set of solutions of an
152
Chapter 3. Second Order Linear Equations
nth order linear homogeneous differential equation forms a vector space of dimension n, and that any set of n linearly independent solutions of the differential equation forms a basis for the space. This connection between differential equations and vectors constitutes a good reason for the study of abstract linear algebra.
PROBLEMS
In each of Problems 1 through 8 determine whether the given pair of functions is linearly independent or linearly dependent. 1. 2. 3. 4. 5. 7. 9. 10. 11.
12.
13.
14.
g(t) = t 2 − 5t f (t) = t 2 + 5t, f (θ ) = cos 3θ, g(θ ) = 4 cos3 θ − 3 cos θ f (t) = eλt cos µt, g(t) = eλt sin µt, µ = 0 3x g(x) = e3(x−1) f (x) = e , f (t) = 3t − 5, g(t) = 9t − 15 6. f (t) = t, g(t) = t −1 f (t) = 3t, g(t) = |t| 8. f (x) = x 3 , g(x) = |x|3 The Wronskian of two functions is W (t) = t sin2 t. Are the functions linearly independent or linearly dependent? Why? The Wronskian of two functions is W (t) = t 2 − 4. Are the functions linearly independent or linearly dependent? Why? If the functions y1 and y2 are linearly independent solutions of y + p(t)y + q(t)y = 0, prove that c1 y1 and c2 y2 are also linearly independent solutions, provided that neither c1 nor c2 is zero. If the functions y1 and y2 are linearly independent solutions of y + p(t)y + q(t)y = 0, prove that y3 = y1 + y2 and y4 = y1 − y2 also form a linearly independent set of solutions. Conversely, if y3 and y4 are linearly independent solutions of the differential equation, show that y1 and y2 are also. If the functions y1 and y2 are linearly independent solutions of y + p(t)y + q(t)y = 0, determine under what conditions the functions y3 = a1 y1 + a2 y2 and y4 = b1 y1 + b2 y2 also form a linearly independent set of solutions. (a) Prove that any two-dimensional vector can be written as a linear combination of i + j and i − j. (b) Prove that if the vectors x = x1 i + x2 j and y = y1 i + y2 j are linearly independent, then any vector z = z 1 i + z 2 j can be expressed as a linear combination of x and y. Note that if x and y are linearly independent, then x1 y2 − x2 y1 = 0. Why?
In each of Problems 15 through 18 find the Wronskian of two solutions of the given differential equation without solving the equation. 15. 17. 18. 19. 20. 21. 22. 23.
t 2 y − t (t + 2)y + (t + 2)y = 0 16. (cos t)y + (sin t)y − t y = 0 2 2 2 Bessel’s equation x y + x y + (x − ν )y = 0, Legendre’s equation (1 − x 2 )y − 2x y + α(α + 1)y = 0, Show that if p is differentiable and p(t) > 0, then the Wronskian W (t) of two solutions of [ p(t)y ] + q(t)y = 0 is W (t) = c/ p(t), where c is a constant. If y1 and y2 are linearly independent solutions of t y + 2y + tet y = 0 and if W (y1 , y2 )(1) = 2, find the value of W (y1 , y2 )(5). If y1 and y2 are linearly independent solutions of t 2 y − 2y + (3 + t)y = 0 and if W (y1 , y2 )(2) = 3, find the value of W (y1 , y2 )(4). If the Wronskian of any two solutions of y + p(t)y + q(t)y = 0 is constant, what does this imply about the coefficients p and q? If f, g, and h are differentiable functions, show that W ( f g, f h) = f 2 W (g, h).
In Problems 24 through 26 assume that p and q are continuous, and that the functions y1 and y2 are solutions of the differential equation y + p(t)y + q(t)y = 0 on an open interval I .
153
3.4 Complex Roots of the Characteristic Equation
24. Prove that if y1 and y2 are zero at the same point in I , then they cannot be a fundamental set of solutions on that interval. 25. Prove that if y1 and y2 have maxima or minima at the same point in I , then they cannot be a fundamental set of solutions on that interval. 26. Prove that if y1 and y2 have a common point of inflection t0 in I , then they cannot be a fundamental set of solutions on I unless both p and q are zero at t0 . 27. Show that t and t 2 are linearly independent on −1 < t < 1; indeed, they are linearly independent on every interval. Show also that W (t, t 2 ) is zero at t = 0. What can you conclude from this about the possibility that t and t 2 are solutions of a differential equation y + p(t)y + q(t)y = 0? Verify that t and t 2 are solutions of the equation t 2 y − 2t y + 2y = 0. Does this contradict your conclusion? Does the behavior of the Wronskian of t and t 2 contradict Theorem 3.3.2? 28. Show that the functions f (t) = t 2 |t| and g(t) = t 3 are linearly dependent on 0 < t < 1 and on −1 < t < 0, but are linearly independent on −1 < t < 1. Although f and g are linearly independent there, show that W ( f, g) is zero for all t in −1 < t < 1. Hence f and g cannot be solutions of an equation y + p(t)y + q(t)y = 0 with p and q continuous on −1 < t < 1.
3.4 Complex Roots of the Characteristic Equation We continue our discussion of the equation ay + by + cy = 0,
(1)
where a, b, and c are given real numbers. In Section 3.1 we found that if we seek solutions of the form y = er t , then r must be a root of the characteristic equation ar 2 + br + c = 0.
(2)
If the roots r1 and r2 are real and different, which occurs whenever the discriminant b2 − 4ac is positive, then the general solution of Eq. (1) is y = c1 e r 1 t + c2 e r 2 t .
(3)
Suppose now that b2 − 4ac is negative. Then the roots of Eq. (2) are conjugate complex numbers; we denote them by r1 = λ + iµ,
r2 = λ − iµ,
(4)
where λ and µ are real. The corresponding expressions for y are y1 (t) = exp[(λ + iµ)t],
y2 (t) = exp[(λ − iµ)t].
(5)
Our first task is to explore what is meant by these expressions, which involve evaluating the exponential function for a complex exponent. For example, if λ = −1, µ = 2, and t = 3, then from Eq. (5) y1 (3) = e−3+6i .
(6)
What does it mean to raise the number e to a complex power? The answer is provided by an important relation known as Euler’s formula.
154
Chapter 3. Second Order Linear Equations
Euler’s Formula. To assign a meaning to the expressions in Eqs. (5) we need to give a definition of the complex exponential function. Of course, we want the definition to reduce to the familiar real exponential function when the exponent is real. There are several ways to accomplish this extension of the exponential function. Here we use a method based on infinite series; an alternative is outlined in Problem 28. Recall from calculus that the Taylor series for et about t = 0 is ∞ n t , n! n=0
et =
−∞ < t < ∞.
(7)
If we now assume that we can substitute it for t in Eq. (7), then we have eit = =
∞ (it)n n=0 ∞ n=0
n! ∞ (−1)n t 2n (−1)n−1 t 2n−1 +i , (2n)! (2n − 1)! n=1
(8)
where we have separated the sum into its real and imaginary parts, making use of the fact that i 2 = −1, i 3 = −i, i 4 = 1, and so forth. The first series in Eq. (8) is precisely the Taylor series for cos t about t = 0, and the second is the Taylor series for sin t about t = 0. Thus we have eit = cos t + i sin t.
(9)
Equation (9) is known as Euler’s formula and is an extremely important mathematical relationship. While our derivation of Eq. (9) is based on the unverified assumption that the series (7) can be used for complex as well as real values of the independent variable, our intention is to use this derivation only to make Eq. (9) seem plausible. We now put matters on a firm foundation by adopting Eq. (9) as the definition of eit . In other words, whenever we write eit , we mean the expression on the right side of Eq. (9). There are some variations of Euler’s formula that are also worth noting. If we replace t by −t in Eq. (9) and recall that cos(−t) = cos t and sin(−t) = − sin t, then we have e−it = cos t − i sin t.
(10)
Further, if t is replaced by µt in Eq. (9), then we obtain a generalized version of Euler’s formula, namely, eiµt = cos µt + i sin µt.
(11)
Next, we want to extend the definition of the exponential function to arbitrary complex exponents of the form (λ + iµ)t. Since we want the usual properties of the exponential function to hold for complex exponents, we certainly want exp[(λ + iµ)t] to satisfy e(λ+iµ)t = eλt eiµt . Then, substituting for e
iµt
(12)
from Eq. (11), we obtain
e(λ+iµ)t = eλt (cos µt + i sin µt) = eλt cos µt + ieλt sin µt.
(13)
We now take Eq. (13) as the definition of exp[(λ + iµ)t]. The value of the exponential function with a complex exponent is a complex number whose real and imaginary parts are given by the terms on the right side of Eq. (13). Observe that the real and
155
3.4 Complex Roots of the Characteristic Equation
imaginary parts of exp[(λ + iµ)t] are expressed entirely in terms of elementary realvalued functions. For example, the quantity in Eq. (6) has the value e−3+6i = e−3 cos 6 + ie−3 sin 6 ∼ = 0.0478041 − 0.0139113i. With the definitions (9) and (13) it is straightforward to show that the usual laws of exponents are valid for the complex exponential function. It is also easy to verify that the differentiation formula d rt (e ) = r er t dt
(14)
also holds for complex values of r . Real-Valued Solutions. The functions y1 (t) and y2 (t), given by Eqs. (5) and with the meaning expressed by Eq. (13), are solutions of Eq. (1) when the roots of the characteristic equation (2) are complex numbers λ ± iµ. Unfortunately, the solutions y1 and y2 are complex-valued functions, whereas in general we would prefer to have realvalued solutions, if possible, because the differential equation itself has real coefficients. Such solutions can be found as a consequence of Theorem 3.2.2, which states that if y1 and y2 are solutions of Eq. (1), then any linear combination of y1 and y2 is also a solution. In particular, let us form the sum and then the difference of y1 and y2 . We have y1 (t) + y2 (t) = eλt (cos µt + i sin µt) + eλt (cos µt − i sin µt) = 2eλt cos µt
and y1 (t) − y2 (t) = eλt (cos µt + i sin µt) − eλt (cos µt − i sin µt) = 2ieλt sin µt.
Hence, neglecting the constant multipliers 2 and 2i, respectively, we have obtained a pair of real-valued solutions u(t) = eλt cos µt,
v(t) = eλt sin µt.
(15)
Observe that u and v are simply the real and imaginary parts, respectively, of y1 . By direct computation you can show that the Wronskian of u and v is W (u, v)(t) = µe2λt .
(16)
Thus, as long as µ = 0, the Wronskian W is not zero, so u and v form a fundamental set of solutions. (Of course, if µ = 0, then the roots are real and the discussion in this section is not applicable.) Consequently, if the roots of the characteristic equation are complex numbers λ ± iµ, with µ = 0, then the general solution of Eq. (1) is y = c1 eλt cos µt + c2 eλt sin µt,
(17)
where c1 and c2 are arbitrary constants. Note that the solution (17) can be written down as soon as the values of λ and µ are known.
156
Chapter 3. Second Order Linear Equations
Find the general solution of EXAMPLE
y + y + y = 0.
1
(18)
The characteristic equation is r 2 + r + 1 = 0, and its roots are
√ −1 ± (1 − 4)1/2 1 3 r= =− ±i . 2 2 2 √ Thus λ = −1/2 and µ = 3/2, so the general solution of Eq. (18) is √ √ y = c1 e−t/2 cos( 3t/2) + c2 e−t/2 sin( 3t/2) .
(19)
Find the general solution of EXAMPLE
2
y + 9y = 0.
(20)
The characteristic equation is r 2 + 9 = 0 with the roots r = ±3i; thus λ = 0 and µ = 3. The general solution is y = c1 cos 3t + c2 sin 3t;
(21)
note that if the real part of the roots is zero, as in this example, then there is no exponential factor in the solution. Find the solution of the initial value problem EXAMPLE
3
16y − 8y + 145y = 0,
y(0) = −2,
y (0) = 1.
(22)
The characteristic equation is 16r − 8r + 145 = 0 and its roots are r = 1/4 ± 3i. Thus the general solution of the differential equation is 2
y = c1 et/4 cos 3t + c2 et/4 sin 3t.
(23)
To apply the first initial condition we set t = 0 in Eq. (23); this gives y(0) = c1 = −2. For the second initial condition we must differentiate Eq. (23) and then set t = 0. In this way we find that y (0) = 14 c1 + 3c2 = 1, from which c2 = 1/2. Using these values of c1 and c2 in Eq. (23), we obtain y = −2et/4 cos 3t + 12 et/4 sin 3t
(24)
as the solution of the initial value problem (22). We will discuss the geometrical properties of solutions such as these more fully in Section 3.8, so we will be very brief here. Each of the solutions u and v in Eqs. (15) represents an oscillation, because of the trigonometric factors, and also either grows or
157
3.4 Complex Roots of the Characteristic Equation
decays exponentially, depending on the sign of λ (unless λ = 0). In Example 1 we have λ = −1/2 < 0, so solutions are decaying oscillations. The graph of a typical solution of Eq. (18) is shown in Figure 3.4.1. On the other hand, λ = 1/4 > 0 in Example 3, so solutions of the differential equation (22) are growing oscillations. The graph of the solution (24) of the given initial value problem is shown in Figure 3.4.2. The intermediate case is illustrated in Example 2 in which λ = 0. In this case the solution neither grows nor decays exponentially, but oscillates steadily; a typical solution of Eq. (20) is shown in Figure 3.4.3.
y
2
1 4
6
2
8
t
FIGURE 3.4.1 A typical solution of y + y + y = 0.
y 10
y = –2e t/4 cos 3t +
1 t/4 e 2
sin 3t
5
2
4
6
8 t
–5
–10
FIGURE 3.4.2 Solution of 16y − 8y + 145y = 0, y(0) = −2, y (0) = 1.
158
Chapter 3. Second Order Linear Equations y 1
2
4
6
8
10
t
–1
FIGURE 3.4.3 A typical solution of y + 9y = 0.
PROBLEMS
In each of Problems 1 through 6 use Euler’s formula to write the given expression in the form a + ib. 1. exp(1 + 2i) 2. exp(2 − 3i) 3. eiπ 4. e2−(π/2)i 1−i 5. 2 6. π −1+2i In each of Problems 7 through 16 find the general solution of the given differential equation. 7. y − 2y + 2y = 0 8. y − 2y + 6y = 0 10. y + 2y + 2y = 0 9. y + 2y − 8y = 0 11. y + 6y + 13y = 0 12. 4y + 9y = 0 13. y + 2y + 1.25y = 0 14. 9y + 9y − 4y = 0 16. y + 4y + 6.25y = 0 15. y + y + 1.25y = 0 In each of Problems 17 through 22 find the solution of the given initial value problem. Sketch the graph of the solution and describe its behavior for increasing t. 17. 18. 19. 20. 21. 22. 䉴 23.
y + 4y = 0, y(0) = 0, y (0) = 1 y + 4y + 5y = 0, y(0) = 1, y (0) = 0 y − 2y + 5y = 0, y(π/2) = 0, y (π/2) = 2 y(π/3) = 2, y (π/3) = −4 y + y = 0, y + y + 1.25y = 0, y(0) = 3, y (0) = 1 y + 2y + 2y = 0, y(π/4) = 2, y (π/4) = −2 Consider the initial value problem 3u − u + 2u = 0,
u(0) = 2,
u (0) = 0.
u(0) = 2,
u (0) = 1.
(a) Find the solution u(t) of this problem. (b) Find the first time at which |u(t)| = 10. 䉴 24. Consider the initial value problem 5u + 2u + 7u = 0,
(a) Find the solution u(t) of this problem. (b) Find the smallest T such that |u(t)| ≤ 0.1 for all t > T . 䉴 25. Consider the initial value problem y + 2y + 6y = 0, (a) Find the solution y(t) of this problem. (b) Find α so that y = 0 when t = 1.
y(0) = 2,
y (0) = α ≥ 0.
159
3.4 Complex Roots of the Characteristic Equation
(c) Find, as a function of α, the smallest positive value of t for which y = 0. (d) Determine the limit of the expression found in part (c) as α → ∞. 䉴 26. Consider the initial value problem y + 2ay + (a 2 + 1)y = 0,
y(0) = 1,
y (0) = 0.
(a) Find the solution y(t) of this problem. (b) For a = 1 find the smallest T such that |y(t)| < 0.1 for t > T . (c) Repeat part (b) for a = 1/4, 1/2, and 2. (d) Using the results of parts (b) and (c), plot T versus a and describe the relation between T and a. 27. Show that W (eλt cos µt, eλt sin µt) = µe2λt . 28. In this problem we outline a different derivation of Euler’s formula. (a) Show that y1 (t) = cos t and y2 (t) = sin t are a fundamental set of solutions of y + y = 0; that is, show that they are solutions and that their Wronskian is not zero. (b) Show (formally) that y = eit is also a solution of y + y = 0. Therefore, eit = c1 cos t + c2 sin t
(i)
for some constants c1 and c2 . Why is this so? (c) Set t = 0 in Eq. (i) to show that c1 = 1. (d) Assuming that Eq. (14) is true, differentiate Eq. (i) and then set t = 0 to conclude that c2 = i. Use the values of c1 and c2 in Eq. (i) to arrive at Euler’s formula. 29. Using Euler’s formula, show that cos t = (eit + e−it )/2,
sin t = (eit − e−it )/2i.
30. If er t is given by Eq. (13), show that e(r1 +r2 )t = er1 t er2 t for any complex numbers r1 and r2 . 31. If er t is given by Eq. (13), show that d rt e = r er t dt for any complex number r . 32. Let the real-valued functions p and q be continuous on the open interval I , and let y = φ(t) = u(t) + iv(t) be a complex-valued solution of y + p(t)y + q(t)y = 0,
(i)
where u and v are real-valued functions. Show that u and v are also solutions of Eq. (i). Hint: Substitute y = φ(t) in Eq. (i) and separate into real and imaginary parts. 33. If the functions y1 and y2 are linearly independent solutions of y + p(t)y + q(t)y = 0, show that between consecutive zeros of y1 there is one and only one zero of y2 . Note that this result is illustrated by the solutions y1 (t) = cos t and y2 (t) = sin t of the equation y + y = 0. Change of Variables. Often a differential equation with variable coefficients, y + p(t)y + q(t)y = 0,
(i)
can be put in a more suitable form for finding a solution by making a change of the independent and/or dependent variables. We explore these ideas in Problems 34 through 42. In particular, in Problem 34 we determine conditions under which Eq. (i) can be transformed into a differential equation with constant coefficients and thereby becomes easily solvable. Problems 35 through 42 give specific applications of this procedure. 34. In this problem we determine conditions on p and q such that Eq. (i) can be transformed into an equation with constant coefficients by a change of the independent variable. Let
160
Chapter 3. Second Order Linear Equations
x = u(t) be the new independent variable, with the relation between x and t to be specified later. (a) Show that 2 2 d y dy dx d 2 x dy d x dy d2 y = + = , . dt dt d x dt dt 2 dx2 dt 2 d x (b) Show that the differential equation (i) becomes 2 2 d y d2x d x dy dx + + p(t) + q(t)y = 0. dt dt d x dx2 dt 2
(ii)
(c) In order for Eq. (ii) to have constant coefficients, the coefficients of d 2 y/d x 2 and of y must be proportional. If q(t) > 0, then we can choose the constant of proportionality to be 1; hence x = u(t) = [q(t)]1/2 dt. (iii) (d) With x chosen as in part (c) show that the coefficient of dy/d x in Eq. (ii) is also a constant, provided that the expression q (t) + 2 p(t)q(t) 2[q(t)]3/2
(iv)
is a constant. Thus Eq. (i) can be transformed into an equation with constant coefficients by a change of the independent variable, provided that the function (q + 2 pq)/q 3/2 is a constant. How must this result be modified if q(t) < 0? In each of Problems 35 through 37 try to transform the given equation into one with constant coefficients by the method of Problem 34. If this is possible, find the general solution of the given equation. 35. 36. 37. 38.
2
−∞ < t < ∞ y + t y + e−t y = 0, −∞ < t < ∞ y + 3t y + t 2 y = 0, t y + (t 2 − 1)y + t 3 y = 0, 0
t > 0,
where α and β are real constants, is called an Euler equation. Show that the substitution x = ln t transforms an Euler equation into an equation with constant coefficients. Euler equations are discussed in detail in Section 5.5. In each of Problems 39 through 42 use the result of Problem 38 to solve the given equation for t > 0. 40. t 2 y + 4t y + 2y = 0 39. t 2 y + t y + y = 0 2 41. t y + 3t y + 1.25y = 0 42. t 2 y − 4t y − 6y = 0
3.5 Repeated Roots; Reduction of Order In earlier sections we showed how to solve the equation ay + by + cy = 0
(1)
161
3.5 Repeated Roots; Reduction of Order
when the roots of the characteristic equation ar 2 + br + c = 0
(2)
are either real and different, or are complex conjugates. Now we consider the third possibility, namely, that the two roots r1 and r2 are equal. This case occurs when the discriminant b2 − 4ac is zero, and it follows from the quadratic formula that r1 = r2 = −b/2a.
(3)
The difficulty is immediately apparent; both roots yield the same solution y1 (t) = e−bt/2a
(4)
of the differential equation (1), and it is not obvious how to find a second solution.
Solve the differential equation EXAMPLE
y + 4y + 4y = 0.
1
(5)
The characteristic equation is r 2 + 4r + 4 = (r + 2)2 = 0, so r1 = r2 = −2. Therefore one solution of Eq. (5) is y1 (t) = e−2t . To find the general solution of Eq. (5) we need a second solution that is not a multiple of y1 . This second solution can be found in several ways (see Problems 20 through 22); here we use a method originated by D’Alembert 5 in the eighteenth century. Recall that since y1 (t) is a solution of Eq. (1), so is cy1 (t) for any constant c. The basic idea is to generalize this observation by replacing c by a function v(t) and then trying to determine v(t) so that the product v(t)y1 (t) is a solution of Eq. (1). To carry out this program we substitute y = v(t)y1 (t) in Eq. (1) and use the resulting equation to find v(t). Starting with y = v(t)y1 (t) = v(t)e−2t ,
(6)
y = v (t)e−2t − 2v(t)e−2t
(7)
y = v (t)e−2t − 4v (t)e−2t + 4v(t)e−2t .
(8)
we have
and
By substituting the expressions in Eqs. (6), (7), and (8) in Eq. (5) and collecting terms, we obtain [v (t) − 4v (t) + 4v(t) + 4v (t) − 8v(t) + 4v(t)]e−2t = 0, which simplifies to v (t) = 0. 5
(9)
Jean d’Alembert (1717–1783), a French mathematician, was a contemporary of Euler and Daniel Bernoulli, and is known primarily for his work in mechanics and differential equations. D’Alembert’s principle in mechanics and d’Alembert’s paradox in hydrodynamics are named for him, and the wave equation first appeared in his paper on vibrating strings in 1747. In his later years he devoted himself primarily to philosophy and to his duties as science editor of Diderot’s Encyclope´die.
162
Chapter 3. Second Order Linear Equations
Therefore v (t) = c1 and v(t) = c1 t + c2 ,
(10)
where c1 and c2 are arbitrary constants. Finally, substituting for v(t) in Eq. (6), we obtain y = c1 te−2t + c2 e−2t .
(11)
The second term on the right side of Eq. (11) corresponds to the original solution y1 (t) = exp(−2t), but the first term arises from a second solution, namely y2 (t) = t exp(−2t). These two solutions are obviously not proportional, but we can verify that they are linearly independent by calculating their Wronskian: e−2t te−2t W (y1 , y2 )(t) = −2t −2t −2e (1 − 2t)e = e−4t − 2te−4t + 2te−4t = e−4t = 0. Therefore y1 (t) = e−2t ,
y2 (t) = te−2t
(12)
form a fundamental set of solutions of Eq. (5), and the general solution of that equation is given by Eq. (11). Note that both y1 (t) and y2 (t) tend to zero as t → ∞; consequently, all solutions of Eq. (5) behave in this way. The graph of a typical solution is shown in Figure 3.5.1. y 2
1
0.5
1
1.5
2
t
FIGURE 3.5.1 A typical solution of y + 4y + 4y = 0.
The procedure used in Example 1 can be extended to a general equation whose characteristic equation has repeated roots. That is, we assume that the coefficients in Eq. (1) satisfy b2 − 4ac = 0, in which case y1 (t) = e−bt/2a is a solution. Then we assume that y = v(t)y1 (t) = v(t)e−bt/2a
(13)
163
3.5 Repeated Roots; Reduction of Order
and substitute in Eq. (1) to determine v(t). We have y = v (t)e−bt/2a −
b v(t)e−bt/2a 2a
(14)
and b b2 y = v (t)e−bt/2a − v (t)e−bt/2a + 2 v(t)e−bt/2a . a 4a Then, by substituting in Eq. (1), we obtain
b b2 b a v (t) − v (t) + 2 v(t) + b v (t) − v(t) + cv(t) e−bt/2a = 0. a 2a 4a
(15)
(16)
Canceling the factor exp(−bt/2a), which is nonzero, and rearranging the remaining terms, we find that 2 2 b b − + c v(t) = 0. (17) av (t) + (−b + b)v (t) + 4a 2a The term involving v (t)is obviously zero. Further, the coefficient of v(t) is c − (b2 /4a), which is also zero because b2 − 4ac = 0 in the problem that we are considering. Thus, just as in Example 1, Eq. (17) reduces to v (t) = 0; therefore, v(t) = c1 t + c2 . Hence, from Eq. (13), we have y = c1 te−bt/2a + c2 e−bt/2a .
(18)
Thus y is a linear combination of the two solutions y1 (t) = e−bt/2a , The Wronskian of these two solutions is e−bt/2a b −bt/2a W (y1 , y2 )(t) = − 2a e
y2 (t) = te−bt/2a . −bt/2a te bt 1− e−bt/2a 2a
(19) = e−bt/a .
(20)
Since W (y1 , y2 )(t) is never zero, the solutions y1 and y2 given by Eq. (19) are a fundamental set of solutions. Further, Eq. (18) is the general solution of Eq. (1) when the roots of the characteristic equation are equal. In other words, in this case, there is one exponential solution corresponding to the repeated root, while a second solution is obtained by multiplying the exponential solution by t.
Find the solution of the initial value problem EXAMPLE
2
y − y + 0.25y = 0,
y(0) = 2,
The characteristic equation is r 2 − r + 0.25 = 0,
y (0) = 13 .
(21)
164
Chapter 3. Second Order Linear Equations
so the roots are r1 = r2 = 1/2. Thus the general solution of the differential equation is y = c1 et/2 + c2 tet/2 .
(22)
The first initial condition requires that y(0) = c1 = 2. To satisfy the second initial condition, we first differentiate Eq. (22) and then set t = 0. This gives y (0) = 12 c1 + c2 =
1 3
,
so c2 = −2/3. Thus, the solution of the initial value problem is y = 2et/2 − 23 tet/2 .
(23)
The graph of this solution is shown in Figure 3.5.2. y 4 y'(0) = 2: y = 2et/2 + te t/2 3 y'(0) =
1 3
: y = 2et/2 –
2 t/2 te 3
2
1
1
2
3
t
–1
FIGURE 3.5.2 Solutions of y − y + 0.25y = 0, y(0) = 2, with y (0) = 1/3 and with y (0) = 2, respectively.
Let us now modify the initial value problem (21) by changing the initial slope; to be specific, let the second initial condition be y (0) = 2. The solution of this modified problem is y = 2et/2 + tet/2 and its graph is also shown in Figure 3.5.2. The graphs shown in this figure suggest that there is a critical initial slope, with a value between 13 and 2, that separates solutions that grow positively from those that ultimately grow negatively. In Problem 16 you are asked to determine this critical initial slope.
165
3.5 Repeated Roots; Reduction of Order
The geometrical behavior of solutions is similar in this case to that when the roots are real and different. If the exponents are either positive or negative, then the magnitude of the solution grows or decays accordingly; the linear factor t has little influence. A decaying solution is shown in Figure 3.5.1 and growing solutions in Figure 3.5.2. However, if the repeated root is zero, then the differential equation is y = 0 and the general solution is a linear function of t. Summary. We can now summarize the results that we have obtained for second order linear homogeneous equations with constant coefficients, ay + by + cy = 0.
(1)
Let r1 and r2 be the roots of the corresponding characteristic polynomial ar 2 + br + c = 0.
(2)
If r1 and r2 are real but not equal, then the general solution of the differential equation (1) is y = c1 e r 1 t + c2 e r 2 t .
(24)
If r1 and r2 are complex conjugates λ ± iµ, then the general solution is y = c1 eλt cos µt + c2 eλt sin µt.
(25)
If r1 = r2 , then the general solution is y = c1 er1 t + c2 ter1 t .
(26)
Reduction of Order. It is worth noting that the procedure used earlier in this section for equations with constant coefficients is more generally applicable. Suppose we know one solution y1 (t), not everywhere zero, of y + p(t)y + q(t)y = 0.
(27)
y = v(t)y1 (t);
(28)
To find a second solution, let
then y = v (t)y1 (t) + v(t)y1 (t) and y = v (t)y1 (t) + 2v (t)y1 (t) + v(t)y1 (t). Substituting for y, y , and y in Eq. (27) and collecting terms, we find that y1 v + (2y1 + py1 )v + (y1 + py1 + qy1 )v = 0.
(29)
Since y1 is a solution of Eq. (27), the coefficient of v in Eq. (29) is zero, so that Eq. (29) becomes y1 v + (2y1 + py1 )v = 0.
(30)
Despite its appearance, Eq. (30) is actually a first order equation for the function v and can be solved either as a first order linear equation or as a separable equation. Once v has been found, then v is obtained by an integration. Finally, y is determined from
166
Chapter 3. Second Order Linear Equations
Eq. (28). This procedure is called the method of reduction of order because the crucial step is the solution of a first order differential equation for v rather than the original second order equation for y. Although it is possible to write down a formula for v(t), we will instead illustrate how this method works by an example.
EXAMPLE
Given that y1 (t) = t −1 is a solution of 2t 2 y + 3t y − y = 0,
3
t > 0,
(31)
find a second linearly independent solution. We set y = v(t)t −1 ; then y = v t −1 − vt −2 ,
y = v t −1 − 2v t −2 + 2vt −3 .
Substituting for y, y , and y in Eq. (31) and collecting terms, we obtain 2t 2 (v t −1 − 2v t −2 + 2vt −3 ) + 3t (v t −1 − vt −2 ) − vt −1 = 2tv + (−4 + 3)v + (4t −1 − 3t −1 − t −1 )v = 2tv − v = 0.
(32)
Note that the coefficient of v is zero, as it should be; this provides a useful check on our algebra. Separating the variables in Eq. (32) and solving for v (t), we find that v (t) = ct 1/2 ; then v(t) = 23 ct 3/2 + k. It follows that y = 23 ct 1/2 + kt −1 ,
(33)
where c and k are arbitrary constants. The second term on the right side of Eq. (33) is a multiple of y1 (t) and can be dropped, but the first term provides a new independent solution. Neglecting the arbitrary multiplicative constant, we have y2 (t) = t 1/2 .
PROBLEMS
In each of Problems 1 through 10 find the general solution of the given differential equation. 1. 3. 5. 7. 9.
y − 2y + y = 0 4y − 4y − 3y = 0 y − 2y + 10y = 0 4y + 17y + 4y = 0 25y − 20y + 4y = 0
2. 4. 6. 8. 10.
9y + 6y + y = 0 4y + 12y + 9y = 0 y − 6y + 9y = 0 16y + 24y + 9y = 0 2y + 2y + y = 0
In each of Problems 11 through 14 solve the given initial value problem. Sketch the graph of the solution and describe its behavior for increasing t. 11. 12. 13. 14.
9y − 12y + 4y = 0, y − 6y + 9y = 0, 9y + 6y + 82y = 0, y + 4y + 4y = 0,
y(0) = 2, y (0) = −1 y(0) = 0, y (0) = 2 y(0) = −1, y (0) = 2 y(−1) = 2, y (−1) = 1
167
3.5 Repeated Roots; Reduction of Order
䉴 15. Consider the initial value problem 4y + 12y + 9y = 0,
y(0) = 1,
y (0) = −4.
(a) Solve the initial value problem and plot its solution for 0 ≤ t ≤ 5. (b) Determine where the solution has the value zero. (c) Determine the coordinates (t0 ,y0 ) of the minimum point. (d) Change the second initial condition to y (0) = b and find the solution as a function of b. Then find the critical value of b that separates solutions that always remain positive from those that eventually become negative. 16. Consider the following modification of the initial value problem in Example 2: y − y + 0.25y = 0,
y(0) = 2,
y (0) = b.
Find the solution as a function of b and then determine the critical value of b that separates solutions that grow positively from those that eventually grow negatively. 䉴 17. Consider the initial value problem 4y + 4y + y = 0,
y(0) = 1,
y (0) = 2.
(a) Solve the initial value problem and plot the solution. (b) Determine the coordinates (t0 ,y0 ) of the maximum point. (c) Change the second initial condition to y (0) = b > 0 and find the solution as a function of b. (d) Find the coordinates (t M ,y M ) of the maximum point in terms of b. Describe the dependence of t M and y M on b as b increases. 18. Consider the initial value problem 9y + 12y + 4y = 0,
y(0) = a > 0,
y (0) = −1.
(a) Solve the initial value problem. (b) Find the critical value of a that separates solutions that become negative from those that are always positive. 19. If the roots of the characteristic equation are real, show that a solution of ay + by + cy = 0 can take on the value zero at most once. Problems 20 through 22 indicate other ways of finding the second solution when the characteristic equation has repeated roots. 20. (a) Consider the equation y + 2ay + a 2 y = 0. Show that the roots of the characteristic equation are r1 = r2 = −a, so that one solution of the equation is e−at . (b) Use Abel’s formula [Eq. (8) of Section 3.3] to show that the Wronskian of any two solutions of the given equation is W (t) = y1 (t)y2 (t) − y1 (t)y2 (t) = c1 e−2at , where c1 is a constant. (c) Let y1 (t) = e−at and use the result of part (b) to show that a second solution is y2 (t) = te−at . 21. Suppose that r1 and r2 are roots of ar 2 + br + c = 0 and that r1 = r2 ; then exp(r1 t) and exp(r2 t) are solutions of the differential equation ay + by + cy = 0. Show that φ(t; r1 , r2 ) = [exp(r2 t) − exp(r1 t)]/(r2 − r1 ) is also a solution of the equation for r2 = r1 . Then think of r1 as fixed and use L’Hospital’s rule to evaluate the limit of φ(t; r1 , r2 ) as r2 → r1 , thereby obtaining the second solution in the case of equal roots. 22. (a) If ar 2 + br + c = 0 has equal roots r1 , show that L[er t ] = a(er t ) + b(er t ) + cer t = a(r − r1 )2 er t .
(i)
168
Chapter 3. Second Order Linear Equations
Since the right side of Eq. (i) is zero when r = r1 , it follows that exp(r1 t) is a solution of L[y] = ay + by + cy = 0. (b) Differentiate Eq. (i) with respect to r and interchange differentiation with respect to r and with respect to t, thus showing that ∂ rt ∂ (ii) L[er t ] = L e = L[ter t ] = ater t (r − r1 )2 + 2aer t (r − r1 ). ∂r ∂r Since the right side of Eq. (ii) is zero when r = r1 , conclude that t exp(r1 t) is also a solution of L[y] = 0. In each of Problems 23 through 30 use the method of reduction of order to find a second solution of the given differential equation. 23. 24. 25. 26. 27. 28. 29. 30. 31.
y1 (t) = t 2 t 2 y − 4t y + 6y = 0, t > 0; 2 t y + 2t y − 2y = 0, t > 0; y1 (t) = t t 2 y + 3t y + y = 0, t > 0; y1 (t) = t −1 t 2 y − t (t + 2)y + (t + 2)y = 0, t > 0; y1 (t) = t x y − y + 4x 3 y = 0, x > 0; y1 (x) = sin x 2 (x − 1)y − x y + y = 0, x > 1; y1 (x) = e x √ 2 x y − (x − 0.1875)y = 0, x > 0; y1 (x) = x 1/4 e2 x x 2 y + x y + (x 2 − 0.25)y = 0, x > 0; y1 (x) = x −1/2 sin x The differential equation x y − (x + N )y + N y = 0, where N is a nonnegative integer, has been discussed by several authors.6 One reason it is interesting is that it has an exponential solution and a polynomial solution. (a) Verify that one solution is y1 (x) = e x . (b) Show that a second solution has the form y2 (x) = ce x x N e−x d x. Calculate y2 (x) for N = 1 and N = 2; convince yourself that, with c = −1/N !,
x x2 xN + + ···+ . 1! 2! N! Note that y2 (x) is exactly the first N + 1 terms in the Taylor series about x = 0 for e x , that is, for y1 (x). 32. The differential equation y2 (x) = 1 +
y + δ(x y + y) = 0 arises in the study of the turbulent flow of a uniform stream past a circular cylinder. Verify that y1 (x) = exp(−δx 2 /2) is one solution and then find the general solution in the form of an integral. 33. The method of Problem 20 can be extended to second order equations with variable coefficients. If y1 is a known nonvanishing solution of y + p(t)y + q(t)y = 0, show that a second solution y2 satisfies (y2 /y1 ) = W (y1 ,y2 )/y12 , where W (y1 ,y2 ) is the Wronskian of y1 and y2 . Then use Abel’s formula [Eq. (8) of Section 3.3] to determine y2 . In each of Problems 34 through 37 use the method of Problem 33 to find a second independent solution of the given equation. 34. t 2 y + 3t y + y = 0, 35. t y − y + 4t 3 y = 0, 6
t > 0; t > 0;
y1 (t) = t −1 y1 (t) = sin(t 2 )
T. A. Newton, “On Using a Differential Equation to Generate Polynomials,” American Mathematical Monthly 81 (1974), pp. 592 – 601. Also see the references given there.
3.6 Nonhomogeneous Equations; Method of Undetermined Coefficients
169
36. (x − 1)y − x y + y = 0, x > 1; y1 (x) = e x 37. x 2 y + x y + (x 2 − 0.25)y = 0, x > 0; y1 (x) = x −1/2 sin x
Behavior of Solutions as t → ∞. Problems 38 through 40 are concerned with the behavior of solutions in the limit as t → ∞.
38. If a, b, and c are positive constants, show that all solutions of ay + by + cy = 0 approach zero as t → ∞. 39. (a) If a > 0 and c > 0, but b = 0, show that the result of Problem 38 is no longer true, but that all solutions are bounded as t → ∞. (b) If a > 0 and b > 0, but c = 0, show that the result of Problem 38 is no longer true, but that all solutions approach a constant that depends on the initial conditions as t → ∞. Determine this constant for the initial conditions y(0) = y0 ,y (0) = y0 . 40. Show that y = sin t is a solution of y + (k sin2 t)y + (1 − k cos t sin t)y = 0 for any value of the constant k. If 0 < k < 2, show that 1 − k cos t sin t > 0 and k sin2 t ≥ 0. Thus observe that even though the coefficients of this variable coefficient differential equation are nonnegative (and the coefficient of y is zero only at the points t = 0, π, 2π, . . .), it has a solution that does not approach zero as t → ∞. Compare this situation with the result of Problem 38. Thus we observe a not unusual situation in the theory of differential equations: equations that are apparently very similar can have quite different properties. Euler Equations. Use the substitution introduced in Problem 38 in Section 3.4 to solve each of the equations in Problems 41 and 42. t >0 41. t 2 y − 3t y + 4y = 0, t >0 42. t 2 y + 2t y + 0.25y = 0,
3.6 Nonhomogeneous Equations; Method of Undetermined Coefficients We now return to the nonhomogeneous equation L[y] = y + p(t)y + q(t)y = g(t),
(1)
where p, q, and g are given (continuous) functions on the open interval I . The equation L[y] = y + p(t)y + q(t)y = 0,
(2)
in which g(t) = 0 and p and q are the same as in Eq. (1), is called the homogeneous equation corresponding to Eq. (1). The following two results describe the structure of solutions of the nonhomogeneous equation (1) and provide a basis for constructing its general solution.
170 Theorem 3.6.1
Chapter 3. Second Order Linear Equations
If Y1 and Y2 are two solutions of the nonhomogeneous equation (1), then their difference Y1 − Y2 is a solution of the corresponding homogeneous equation (2). If, in addition, y1 and y2 are a fundamental set of solutions of Eq. (2), then Y1 (t) − Y2 (t) = c1 y1 (t) + c2 y2 (t),
(3)
where c1 and c2 are certain constants. To prove this result, note that Y1 and Y2 satisfy the equations L[Y1 ](t) = g(t),
L[Y2 ](t) = g(t).
(4)
Subtracting the second of these equations from the first, we have L[Y1 ](t) − L[Y2 ](t) = g(t) − g(t) = 0.
(5)
However, L[Y1 ] − L[Y2 ] = L[Y1 − Y2 ], so Eq. (5) becomes L[Y1 − Y2 ](t) = 0.
(6)
Equation (6) states that Y1 − Y2 is a solution of Eq. (2). Finally, since all solutions of Eq. (2) can be expressed as linear combinations of a fundamental set of solutions by Theorem 3.2.4, it follows that the solution Y1 − Y2 can be so written. Hence Eq. (3) holds and the proof is complete.
Theorem 3.6.2
The general solution of the nonhomogeneous equation (1) can be written in the form y = φ(t) = c1 y1 (t) + c2 y2 (t) + Y (t),
(7)
where y1 and y2 are a fundamental set of solutions of the corresponding homogeneous equation (2), c1 and c2 are arbitrary constants, and Y is some specific solution of the nonhomogeneous equation (1). The proof of Theorem 3.6.2 follows quickly from the preceding theorem. Note that Eq. (3) holds if we identify Y1 with an arbitrary solution φ of Eq. (1) and Y2 with the specific solution Y . From Eq. (3) we thereby obtain φ(t) − Y (t) = c1 y1 (t) + c2 y2 (t),
(8)
which is equivalent to Eq. (7). Since φ is an arbitrary solution of Eq. (1), the expression on the right side of Eq. (7) includes all solutions of Eq. (1); thus it is natural to call it the general solution of Eq. (1). In somewhat different words, Theorem 3.6.2 states that to solve the nonhomogeneous equation (1), we must do three things: 1.
2. 3.
Find the general solution c1 y1 (t) + c2 y2 (t) of the corresponding homogeneous equation. This solution is frequently called the complementary solution and may be denoted by yc (t). Find some single solution Y (t) of the nonhomogeneous equation. Often this solution is referred to as a particular solution. Add together the functions found in the two preceding steps.
171
3.6 Nonhomogeneous Equations; Method of Undetermined Coefficients
We have already discussed how to find yc (t), at least when the homogeneous equation (2) has constant coefficients. Therefore, in the remainder of this section and in the next, we will focus on finding a particular solution Y (t) of the nonhomogeneous equation (1). There are two methods that we wish to discuss. They are known as the method of undetermined coefficients and the method of variation of parameters, respectively. Each has some advantages and some possible shortcomings. Method of Undetermined Coefficients. The method of undetermined coefficients requires that we make an initial assumption about the form of the particular solution Y (t), but with the coefficients left unspecified. We then substitute the assumed expression into Eq. (1) and attempt to determine the coefficients so as to satisfy that equation. If we are successful, then we have found a solution of the differential equation (1) and can use it for the particular solution Y (t). If we cannot determine the coefficients, then this means that there is no solution of the form that we assumed. In this case we may modify the initial assumption and try again. The main advantage of the method of undetermined coefficients is that it is straightforward to execute once the assumption is made as to the form of Y (t). Its major limitation is that it is useful primarily for equations for which we can easily write down the correct form of the particular solution in advance. For this reason, this method is usually used only for problems in which the homogeneous equation has constant coefficients and the nonhomogeneous term is restricted to a relatively small class of functions. In particular, we consider only nonhomogeneous terms that consist of polynomials, exponential functions, sines, and cosines. Despite this limitation, the method of undetermined coefficients is useful for solving many problems that have important applications. However, the algebraic details may become tedious and a computer algebra system can be very helpful in practical applications. We will illustrate the method of undetermined coefficients by several simple examples and then summarize some rules for using it.
Find a particular solution of EXAMPLE
1
y − 3y − 4y = 3e2t .
(9)
We seek a function Y such that the combination Y (t) − 3Y (t) − 4Y (t) is equal to 3e2t . Since the exponential function reproduces itself through differentiation, the most plausible way to achieve the desired result is to assume that Y (t) is some multiple of e2t , that is, Y (t) = Ae2t , where the coefficient A is yet to be determined. To find A we calculate Y (t) = 2Ae2t ,
Y (t) = 4Ae2t ,
and substitute for y, y , and y in Eq. (9). We obtain (4A − 6A − 4A)e2t = 3e2t . Hence −6Ae2t must equal 3e2t , so A = −1/2. Thus a particular solution is Y (t) = − 12 e2t .
(10)
172
Chapter 3. Second Order Linear Equations
Find a particular solution of EXAMPLE
2
y − 3y − 4y = 2 sin t.
(11)
By analogy with Example 1, let us first assume that Y (t) = A sin t, where A is a constant to be determined. On substituting in Eq. (11) and rearranging the terms, we obtain −5A sin t − 3A cos t = 2 sin t, or (2 + 5A) sin t + 3A cos t = 0.
(12)
The functions sin t and cos t are linearly independent, so Eq. (12) can hold on an interval only if the coefficients 2 + 5A and 3A are both zero. These contradictory requirements mean that there is no choice of the constant A that makes Eq. (12) true for all t. Thus we conclude that our assumption concerning Y (t) is inadequate. The appearance of the cosine term in Eq. (12) suggests that we modify our original assumption to include a cosine term in Y (t), that is, Y (t) = A sin t + B cos t, where A and B are to be determined. Then Y (t) = A cos t − B sin t,
Y (t) = − A sin t − B cos t.
By substituting these expressions for y, y , and y in Eq. (11) and collecting terms, we obtain (− A + 3B − 4A) sin t + (−B − 3A − 4B) cos t = 2 sin t.
(13)
To satisfy Eq. (13) we must match the coefficients of sin t and cos t on each side of the equation; thus A and B must satisfy the equations −5A + 3B = 2,
−3A − 5B = 0.
Hence A = −5/17 and B = 3/17, so a particular solution of Eq. (11) is 5 Y (t) = − 17 sin t +
3 17
cos t.
The method illustrated in the preceding examples can also be used when the right side of the equation is a polynomial. Thus, to find a particular solution of y − 3y − 4y = 4t 2 − 1,
(14)
we initially assume that Y (t) is a polynomial of the same degree as the nonhomogeneous term, that is, Y (t) = At 2 + Bt + C. To summarize our conclusions up to this point: if the nonhomogeneous term g(t) in Eq. (1) is an exponential function eαt , then assume that Y (t) is proportional to the same exponential function; if g(t) is sin βt or cos βt, then assume that Y (t) is a linear combination of sin βt and cos βt; if g(t) is a polynomial, then assume that Y (t) is a polynomial of like degree. The same principle extends to the case where g(t) is a product of any two, or all three, of these types of functions, as the next example illustrates.
173
3.6 Nonhomogeneous Equations; Method of Undetermined Coefficients
Find a particular solution of EXAMPLE
3
y − 3y − 4y = −8et cos 2t.
(15)
In this case we assume that Y (t) is the product of e and a linear combination of cos 2t and sin 2t, that is, t
Y (t) = Aet cos 2t + Bet sin 2t. The algebra is more tedious in this example, but it follows that Y (t) = ( A + 2B)et cos 2t + (−2A + B)et sin 2t and Y (t) = (−3A + 4B)et cos 2t + (−4A − 3B)et sin 2t. By substituting these expressions in Eq. (15), we find that A and B must satisfy 10A + 2B = 8,
2A − 10B = 0.
Hence A = 10/13 and B = 2/13; therefore a particular solution of Eq. (15) is Y (t) =
10 t e 13
cos 2t +
2 t e 13
sin 2t.
Now suppose that g(t) is the sum of two terms, g(t) = g1 (t) + g2 (t), and suppose that Y1 and Y2 are solutions of the equations ay + by + cy = g1 (t)
(16)
ay + by + cy = g2 (t),
(17)
and respectively. Then Y1 + Y2 is a solution of the equation ay + by + cy = g(t).
(18)
To prove this statement, substitute Y1 (t) + Y2 (t) for y in Eq. (18) and make use of Eqs. (16) and (17). A similar conclusion holds if g(t) is the sum of any finite number of terms. The practical significance of this result is that for an equation whose nonhomogeneous function g(t) can be expressed as a sum, one can consider instead several simpler equations and then add the results together. The following example is an illustration of this procedure.
Find a particular solution of EXAMPLE
y − 3y − 4y = 3e2t + 2 sin t − 8et cos 2t.
4
By splitting up the right side of Eq. (19), we obtain the three equations y − 3y − 4y = 3e2t , y − 3y − 4y = 2 sin t, and y − 3y − 4y = −8et cos 2t.
(19)
174
Chapter 3. Second Order Linear Equations
Solutions of these three equations have been found in Examples 1, 2, and 3, respectively. Therefore a particular solution of Eq. (19) is their sum, namely, Y (t) = − 12 e2t +
3 17
cos t −
5 17
sin t +
10 t e 13
cos 2t +
2 t e 13
sin 2t.
The procedure illustrated in these examples enables us to solve a fairly large class of problems in a reasonably efficient manner. However, there is one difficulty that sometimes occurs. The next example illustrates how it arises.
Find a particular solution of EXAMPLE
5
y + 4y = 3 cos 2t.
(20)
Proceeding as in Example 2, we assume that Y (t) = A cos 2t + B sin 2t. By substituting in Eq. (20), we then obtain (4A − 4A) cos 2t + (4B − 4B) sin 2t = 3 cos 2t.
(21)
Since the left side of Eq. (21) is zero, there is no choice of A and B that satisfies this equation. Therefore, there is no particular solution of Eq. (20) of the assumed form. The reason for this possibly unexpected result becomes clear if we solve the homogeneous equation y + 4y = 0
(22)
that corresponds to Eq. (20). A fundamental set of solutions of Eq. (22) is y1 (t) = cos 2t and y2 (t) = sin 2t. Thus our assumed particular solution of Eq. (20) is actually a solution of the homogeneous equation (22); consequently, it cannot possibly be a solution of the nonhomogeneous equation (20). To find a solution of Eq. (20) we must therefore consider functions of a somewhat different form. The simplest functions, other than cos 2t and sin 2t themselves, that when differentiated lead to cos 2t and sin 2t are t cos 2t and t sin 2t. Hence we assume that Y (t) = At cos 2t + Bt sin 2t. Then, upon calculating Y (t) and Y (t), substituting them into Eq. (20), and collecting terms, we find that −4A sin 2t + 4B cos 2t = 3 cos 2t. Therefore A = 0 and B = 3/4, so a particular solution of Eq. (20) is Y (t) = 34 t sin 2t. The fact that in some circumstances a purely oscillatory forcing term leads to a solution that includes a linear factor t as well as an oscillatory factor is important in some applications; see Section 3.9 for a further discussion.
The outcome of Example 5 suggests a modification of the principle stated previously: If the assumed form of the particular solution duplicates a solution of the corresponding homogeneous equation, then modify the assumed particular solution by multiplying it by t. Occasionally, this modification will be insufficient to remove all duplication with the solutions of the homogeneous equation, in which case it is necessary to multiply
175
3.6 Nonhomogeneous Equations; Method of Undetermined Coefficients
by t a second time. For a second order equation, it will never be necessary to carry the process further than this. Summary. We now summarize the steps involved in finding the solution of an initial value problem consisting of a nonhomogeneous equation of the form ay + by + cy = g(t),
(23)
where the coefficients a, b, and c are constants, together with a given set of initial conditions: 1. 2.
Find the general solution of the corresponding homogeneous equation. Make sure that the function g(t) in Eq. (23) belongs to the class of functions discussed in this section, that is, it involves nothing more than exponential functions, sines, cosines, polynomials, or sums or products of such functions. If this is not the case, use the method of variation of parameters (discussed in the next section). 3. If g(t) = g1 (t) + · · · + gn (t), that is, if g(t) is a sum of n terms, then form n subproblems, each of which contains only one of the terms g1 (t), . . . , gn (t). The ith subproblem consists of the equation ay + by + cy = gi (t),
4.
5. 6.
7.
where i runs from 1 to n. For the ith subproblem assume a particular solution Yi (t) consisting of the appropriate exponential function, sine, cosine, polynomial, or combination thereof. If there is any duplication in the assumed form of Yi (t) with the solutions of the homogeneous equation (found in step 1), then multiply Yi (t) by t, or (if necessary) by t 2 , so as to remove the duplication. See Table 3.6.1. Find a particular solution Yi (t) for each of the subproblems. Then the sum Y1 (t) + · · · + Yn (t) is a particular solution of the full nonhomogeneous equation (23). Form the sum of the general solution of the homogeneous equation (step 1) and the particular solution of the nonhomogeneous equation (step 5). This is the general solution of the nonhomogeneous equation. Use the initial conditions to determine the values of the arbitrary constants remaining in the general solution.
TABLE 3.6.1 The Particular Solution of ay + by + cy = gi (t) gi (t)
Yi (t)
Pn (t) = a0 t n + a1 t n−1 + · · · + an
t s (A0 t n + A1 t n−1 + · · · + An )
Pn (t)eαt
t s (A0 t n + A1 t n−1 + · · · + An )eαt
Pn (t)eαt
sin βt cos βt
t s [(A0 t n + A1 t n−1 + · · · + An )eαt cos βt +(B0 t n + B1 t n−1 + · · · + Bn )eαt sin βt]
Notes. Here s is the smallest nonnegative integer (s = 0, 1, or 2) that will ensure that no term in Yi (t) is a solution of the corresponding homogeneous equation. Equivalently, for the three cases, s is the number of times 0 is a root of the characteristic equation, α is a root of the characteristic equation, and α + iβ is a root of the characteristic equation, respectively.
176
Chapter 3. Second Order Linear Equations
For some problems this entire procedure is easy to carry out by hand, but in many cases it requires considerable algebra. Once you understand clearly how the method works, a computer algebra system can be of great assistance in executing the details. The method of undetermined coefficients is self-correcting in the sense that if one assumes too little for Y (t), then a contradiction is soon reached that usually points the way to the modification that is needed in the assumed form. On the other hand, if one assumes too many terms, then some unnecessary work is done and some coefficients turn out to be zero, but at least the correct answer is obtained. Proof of the Method of Undetermined Coefficients. In the preceding discussion we have described the method of undetermined coefficients on the basis of several examples. To prove that the procedure always works as stated, we now give a general argument, in which we consider several cases corresponding to different forms for the nonhomogeneous term g(t). g(t) = Pn (t) = a0 t n + a1 t n−1 + · · · + an . In this case Eq. (23) becomes ay + by + cy = a0 t n + a1 t n−1 + · · · + an .
(24)
To obtain a particular solution we assume that Y (t) = A0 t n + A1 t n−1 + · · · + An−2 t 2 + An−1 t + An .
(25)
Substituting in Eq. (24), we obtain a[n(n − 1) A0 t n−2 + · · · + 2An−2 ] + b(n A0 t n−1 + · · · + An−1 ) + c( A0 t n + A1 t n−1 + · · · + An ) = a0 t n + · · · + an .
(26)
Equating the coefficients of like powers of t gives c A0 = a0 , c A1 + nb A0 = a1 , .. . c An + b An−1 + 2a An−2 = an . Provided that c = 0, the solution of the first equation is A0 = a0 /c, and the remaining equations determine A1 , . . . , An successively. If c = 0, but b = 0, then the polynomial on the left side of Eq. (26) is of degree n − 1, and we cannot satisfy Eq. (26). To be sure that aY (t) + bY (t) is a polynomial of degree n, we must choose Y (t) to be a polynomial of degree n + 1. Hence we assume that Y (t) = t ( A0 t n + · · · + An ). There is no constant term in this expression for Y (t), but there is no need to include such a term since a constant is a solution of the homogeneous equation when c = 0. Since b = 0, we have A0 = a0 /b(n + 1), and the other coefficients A1 , . . . , An can be determined similarly. If both c and b are zero, we assume that Y (t) = t 2 ( A0 t n + · · · + An ). The term aY (t) gives rise to a term of degree n, and we can proceed as before. Again the constant and linear terms in Y (t) are omitted, since in this case they are both solutions of the homogeneous equation.
3.6 Nonhomogeneous Equations; Method of Undetermined Coefficients
g(t) = eαt Pn (t).
177
The problem of determining a particular solution of ay + by + cy = eαt Pn (t)
(27)
can be reduced to the preceding case by a substitution. Let Y (t) = eαt u(t); then Y (t) = eαt [u (t) + αu(t)] and Y (t) = eαt [u (t) + 2αu (t) + α 2 u(t)]. Substituting for y, y , and y in Eq. (27), canceling the factor eαt , and collecting terms, we obtain au (t) + (2aα + b)u (t) + (aα 2 + bα + c)u(t) = Pn (t).
(28)
The determination of a particular solution of Eq. (28) is precisely the same problem, except for the names of the constants, as solving Eq. (24). Therefore, if aα 2 + bα + c is not zero, we assume that u(t) = A0 t n + · · · + An ; hence a particular solution of Eq. (27) is of the form Y (t) = eαt ( A0 t n + A1 t n−1 + · · · + An ).
(29)
On the other hand, if aα + bα + c is zero, but 2aα + b is not, we must take u(t) to be of the form t ( A0 t n + · · · + An ). The corresponding form for Y (t) is t times the expression on the right side of Eq. (29). Note that if aα 2 + bα + c is zero, then eαt is a solution of the homogeneous equation. If both aα 2 + bα + c and 2aα + b are zero (and this implies that both eαt and teαt are solutions of the homogeneous equation), then the correct form for u(t) is t 2 ( A0 t n + · · · + An ). Hence Y (t) is t 2 times the expression on the right side of Eq. (29). 2
g(t) = eαt Pn (t) cos β t or eαt Pn (t) sin β t. These two cases are similar, so we consider only the latter. We can reduce this problem to the preceding one by noting that, as a consequence of Euler’s formula, sin βt = (eiβt − e−iβt )/2i. Hence g(t) is of the form g(t) = Pn (t)
e(α+iβ)t − e(α−iβ)t 2i
and we should choose Y (t) = e(α+iβ)t ( A0 t n + · · · + An ) + e(α−iβ)t (B0 t n + · · · + Bn ), or equivalently, Y (t) = eαt ( A0 t n + · · · + An ) cos βt + eαt (B0 t n + · · · + Bn ) sin βt. Usually, the latter form is preferred. If α ± iβ satisfy the characteristic equation corresponding to the homogeneous equation, we must, of course, multiply each of the polynomials by t to increase their degrees by one. If the nonhomogeneous function involves both cos βt and sin βt, it is usually convenient to treat these terms together, since each one individually may give rise to the
178
Chapter 3. Second Order Linear Equations
same form for a particular solution. For example, if g(t) = t sin t + 2 cos t, the form for Y (t) would be Y (t) = ( A0 t + A1 ) sin t + (B0 t + B1 ) cos t, provided that sin t and cos t are not solutions of the homogeneous equation.
PROBLEMS
In each of Problems 1 through 12 find the general solution of the given differential equation. 1. 3. 5. 7. 9. 11. 12.
2. y + 2y + 5y = 3 sin 2t y − 2y − 3y = 3e2t y − 2y − 3y = −3te−t 4. y + 2y = 3 + 4 sin 2t 2 3t y + 9y = t e + 6 6. y + 2y + y = 2e−t 2 2y + 3y + y = t + 3 sin t 8. y + y = 3 sin 2t + t cos 2t 2 2 2 ω = ω0 10. u + ω02 u = cos ω0 t u + ω0 u = cos ωt, y + y + 4y = 2 sinh t Hint: sinh t = (et − e−t )/2 y − y − 2y = cosh 2t Hint: cosh t = (et + e−t )/2
In each of Problems 13 through 18 find the solution of the given initial value problem. y(0) = 0, y (0) = 1 13. y + y − 2y = 2t, 2 t 14. y + 4y = t + 3e , y(0) = 0, y (0) = 2 t 15. y − 2y + y = te + 4, y(0) = 1, y (0) = 1 2t 16. y − 2y − 3y = 3te , y(0) = 1, y (0) = 0 17. y + 4y = 3 sin 2t, y(0) = 2, y (0) = −1 18. y + 2y + 5y = 4e−t cos 2t, y(0) = 1, y (0) = 0
䉴 䉴 䉴 䉴 䉴 䉴 䉴
In each of Problems 19 through 26: (a) Determine a suitable form for Y (t) if the method of undetermined coefficients is to be used. (b) Use a computer algebra system to find a particular solution of the given equation. 19. y + 3y = 2t 4 + t 2 e−3t + sin 3t 䉴 20. y + y = t (1 + sin t) 21. y − 5y + 6y = et cos 2t + e2t (3t + 4) sin t 22. y + 2y + 2y = 3e−t + 2e−t cos t + 4e−t t 2 sin t 23. y − 4y + 4y = 2t 2 + 4te2t + t sin 2t 24. y + 4y = t 2 sin 2t + (6t + 7) cos 2t 25. y + 3y + 2y = et (t 2 + 1) sin 2t + 3e−t cos t + 4et 26. y + 2y + 5y = 3te−t cos 2t − 2te−2t cos t 27. Determine the general solution of y + λ2 y =
N
am sin mπ t,
m=1
where λ > 0 and λ = mπ for m = 1, . . . , N . 䉴 28. In many physical problems the nonhomogeneous term may be specified by different formulas in different time periods. As an example, determine the solution y = φ(t) of t, 0 ≤ t ≤ π, y +y= t > π, π eπ −t , satisfying the initial conditions y(0) = 0 and y (0) = 1. Assume that y and y are also continuous at t = π . Plot the nonhomogeneous term and the solution as functions of time. Hint: First solve the initial value problem for t ≤ π ; then solve for t > π , determining the constants in the latter solution from the continuity conditions at t = π .
179
3.7 Variation of Parameters
䉴 29. Follow the instructions in Problem 28 to solve the differential equation 1, 0 ≤ t ≤ π/2, y + 2y + 5y = 0, t > π/2 with the initial conditions y(0) = 0 and y (0) = 0. Behavior of Solutions as t ➞ ⴥ. In Problems 30 and 31 we continue the discussion started with Problems 38 through 40 of Section 3.5. Consider the differential equation ay + by + cy = g(t),
(i)
where a, b, and c are positive. 30. If Y1 (t) and Y2 (t) are solutions of Eq. (i), show that Y1 (t) − Y2 (t) → 0 as t → ∞. Is this result true if b = 0? 31. If g(t) = d, a constant, show that every solution of Eq. (i) approaches d/c as t → ∞. What happens if c = 0? What if b = 0 also? 32. In this problem we indicate an alternate procedure7 for solving the differential equation y + by + cy = (D 2 + bD + c)y = g(t),
(i)
where b and c are constants, and D denotes differentiation with respect to t. Let r1 and r2 be the zeros of the characteristic polynomial of the corresponding homogeneous equation. These roots may be real and different, real and equal, or conjugate complex numbers. (a) Verify that Eq. (i) can be written in the factored form (D − r1 )(D − r2 )y = g(t), where r1 + r2 = −b and r1 r2 = c. (b) Let u = (D − r2 )y. Then show that the solution of Eq (i) can be found by solving the following two first order equations: (D − r1 )u = g(t),
(D − r2 )y = u(t).
In each of Problems 33 through 36 use the method of Problem 32 to solve the given differential equation. 33. y − 3y − 4y = 3e2t (see Example 1) 34. 2y + 3y + y = t 2 + 3 sin t (see Problem 7) 35. y + 2y + y = 2e−t (see Problem 6) 36. y + 2y = 3 + 4 sin 2t (see Problem 4)
3.7 Variation of Parameters In this section we describe another method of finding a particular solution of a nonhomogeneous equation. This method, known as variation of parameters, is due to Lagrange and complements the method of undetermined coefficients rather well. The main advantage of variation of parameters is that it is a general method; in principle at least, it can be applied to any equation, and it requires no detailed assumptions about 7 R. S. Luthar, “Another Approach to a Standard Differential Equation,” Two Year College Mathematics Journal 10 (1979), pp. 200 –201; also see D. C. Sandell and F. M. Stein, “Factorization of Operators of Second Order Linear Homogeneous Ordinary Differential Equations,” Two Year College Mathematics Journal 8 (1977), pp. 132–141, for a more general discussion of factoring operators.
180
Chapter 3. Second Order Linear Equations
the form of the solution. In fact, later in this section we use this method to derive a formula for a particular solution of an arbitrary second order linear nonhomogeneous differential equation. On the other hand, the method of variation of parameters eventually requires that we evaluate certain integrals involving the nonhomogeneous term in the differential equation, and this may present difficulties. Before looking at this method in the general case, we illustrate its use in an example.
Find a particular solution of EXAMPLE
y + 4y = 3 csc t.
1
(1)
Observe that this problem does not fall within the scope of the method of undetermined coefficients because the nonhomogeneous term g(t) = 3 csc t involves a quotient (rather than a sum or a product) of sin t or cos t. Therefore, we need a different approach. Observe also that the homogeneous equation corresponding to Eq. (1) is y + 4y = 0,
(2)
and that the general solution of Eq. (2) is yc (t) = c1 cos 2t + c2 sin 2t.
(3)
The basic idea in the method of variation of parameters is to replace the constants c1 and c2 in Eq. (3) by functions u 1 (t) and u 2 (t), respectively, and then to determine these functions so that the resulting expression y = u 1 (t) cos 2t + u 2 (t) sin 2t
(4)
is a solution of the nonhomogeneous equation (1). To determine u 1 and u 2 we need to substitute for y from Eq. (4) in Eq. (1). However, even without carrying out this substitution, we can anticipate that the result will be a single equation involving some combination of u 1 , u 2 , and their first two derivatives. Since there is only one equation and two unknown functions, we can expect that there are many possible choices of u 1 and u 2 that will meet our needs. Alternatively, we may be able to impose a second condition of our own choosing, thereby obtaining two equations for the two unknown functions u 1 and u 2 . We will soon show (following Lagrange) that it is possible to choose this second condition in a way that makes the computation markedly more efficient. Returning now to Eq. (4), we differentiate it and rearrange the terms, thereby obtaining y = −2u 1 (t) sin 2t + 2u 2 (t) cos 2t + u 1 (t) cos 2t + u 2 (t) sin 2t.
(5)
Keeping in mind the possibility of choosing a second condition on u 1 and u 2 , let us require the last two terms on the right side of Eq. (5) to be zero; that is, we require that u 1 (t) cos 2t + u 2 (t) sin 2t = 0.
(6)
It then follows from Eq. (5) that y = −2u 1 (t) sin 2t + 2u 2 (t) cos 2t.
(7)
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3.7 Variation of Parameters
Although the ultimate effect of the condition (6) is not yet clear, at the very least it has simplified the expression for y . Further, by differentiating Eq. (7), we obtain y = −4u 1 (t) cos 2t − 4u 2 (t) sin 2t − 2u 1 (t) sin 2t + 2u 2 (t) cos 2t.
(8)
Then, substituting for y and y in Eq. (1) from Eqs. (4) and (8), respectively, we find that u 1 and u 2 must satisfy −2u 1 (t) sin 2t + 2u 2 (t) cos 2t = 3 csc t.
(9)
Summarizing our results to this point, we want to choose u 1 and u 2 so as to satisfy Eqs. (6) and (9). These equations can be viewed as a pair of linear algebraic equations for the two unknown quantities u 1 (t) and u 2 (t). Equations (6) and (9) can be solved in various ways. For example, solving Eq. (6) for u 2 (t), we have u 2 (t) = −u 1 (t)
cos 2t . sin 2t
(10)
Then, substituting for u 2 (t) in Eq. (9) and simplifying, we obtain u 1 (t) = −
3 csc t sin 2t = −3 cos t. 2
(11)
Further, putting this expression for u 1 (t) back in Eq. (10) and using the double angle formulas, we find that u 2 (t) =
3(1 − 2 sin2 t) 3 3 cos t cos 2t = = csc t − 3 sin t. sin 2t 2 sin t 2
(12)
Having obtained u 1 (t) and u 2 (t), the next step is to integrate so as to obtain u 1 (t) and u 2 (t). The result is u 1 (t) = −3 sin t + c1
(13)
ln | csc t − cot t| + 3 cos t + c2 .
(14)
and u 2 (t) =
3 2
Finally, on substituting these expressions in Eq. (4), we have y = −3 sin t cos 2t + 32 ln | csc t − cot t| sin 2t + 3 cos t sin 2t + c1 cos 2t + c2 sin 2t, or y = 3 sin t + 32 ln | csc t − cot t| sin 2t + c1 cos 2t + c2 sin 2t.
(15)
The terms in Eq. (15) involving the arbitrary constants c1 and c2 are the general solution of the corresponding homogeneous equation, while the remaining terms are a particular solution of the nonhomogeneous equation (1). Therefore Eq. (15) is the general solution of Eq. (1).
In the preceding example the method of variation of parameters worked well in determining a particular solution, and hence the general solution, of Eq. (1). The next
182
Chapter 3. Second Order Linear Equations
question is whether this method can be applied effectively to an arbitrary equation. Therefore we consider y + p(t)y + q(t)y = g(t),
(16)
where p, q, and g are given continuous functions. As a starting point, we assume that we know the general solution yc (t) = c1 y1 (t) + c2 y2 (t)
(17)
of the corresponding homogeneous equation y + p(t)y + q(t)y = 0.
(18)
This is a major assumption because so far we have shown how to solve Eq. (18) only if it has constant coefficients. If Eq. (18) has coefficients that depend on t, then usually the methods described in Chapter 5 must be used to obtain yc (t). The crucial idea, as illustrated in Example 1, is to replace the constants c1 and c2 in Eq. (17) by functions u 1 (t) and u 2 (t), respectively; this gives y = u 1 (t)y1 (t) + u 2 (t)y2 (t).
(19)
Then we try to determine u 1 (t) and u 2 (t) so that the expression in Eq. (19) is a solution of the nonhomogeneous equation (16) rather than the homogeneous equation (18). Thus we differentiate Eq. (19), obtaining y = u 1 (t)y1 (t) + u 1 (t)y1 (t) + u 2 (t)y2 (t) + u 2 (t)y2 (t).
(20)
As in Example 1, we now set the terms involving u 1 (t) and u 2 (t) in Eq. (20) equal to zero; that is, we require that u 1 (t)y1 (t) + u 2 (t)y2 (t) = 0.
(21)
Then, from Eq. (20), we have y = u 1 (t)y1 (t) + u 2 (t)y2 (t).
(22)
Further, by differentiating again, we obtain y = u 1 (t)y1 (t) + u 1 (t)y1 (t) + u 2 (t)y2 (t) + u 2 (t)y2 (t).
(23)
Now we substitute for y, y , and y in Eq. (16) from Eqs. (19), (22), and (23), respectively. After rearranging the terms in the resulting equation we find that u 1 (t)[y1 (t) + p(t)y1 (t) + q(t)y1 (t)] + u 2 (t)[y2 (t) + p(t)y2 (t) + q(t)y2 (t)] + u 1 (t)y1 (t) + u 2 (t)y2 (t) = g(t).
(24)
Each of the expressions in square brackets in Eq. (24) is zero because both y1 and y2 are solutions of the homogeneous equation (18). Therefore Eq. (24) reduces to u 1 (t)y1 (t) + u 2 (t)y2 (t) = g(t).
(25)
Equations (21) and (25) form a system of two linear algebraic equations for the derivatives u 1 (t) and u 2 (t) of the unknown functions. They correspond exactly to Eqs. (6) and (9) in Example 1.
183
3.7 Variation of Parameters
By solving the system (21), (25) we obtain u 1 (t) = −
y2 (t)g(t) , W (y1 ,y2 )(t)
u 2 (t) =
y1 (t)g(t) , W (y1 ,y2 )(t)
(26)
where W (y1 ,y2 ) is the Wronskian of y1 and y2 . Note that division by W is permissible since y1 and y2 are a fundamental set of solutions, and therefore their Wronskian is nonzero. By integrating Eqs. (26) we find the desired functions u 1 (t) and u 2 (t), namely, y2 (t)g(t) y1 (t)g(t) dt + c1 , dt + c2 . u 1 (t) = − u 2 (t) = (27) W (y1 ,y2 )(t) W (y1 ,y2 )(t) Finally, substituting from Eq. (27) in Eq. (19) gives the general solution of Eq. (16). We state the result as a theorem.
Theorem 3.7.1
If the functions p, q, and g are continuous on an open interval I , and if the functions y1 and y2 are linearly independent solutions of the homogeneous equation (18) corresponding to the nonhomogeneous equation (16), y + p(t)y + q(t)y = g(t), then a particular solution of Eq. (16) is y2 (t)g(t) y1 (t)g(t) Y (t) = −y1 (t) dt + y2 (t) dt, W (y1 ,y2 )(t) W (y1 ,y2 )(t)
(28)
and the general solution is y = c1 y1 (t) + c2 y2 (t) + Y (t),
(29)
as prescribed by Theorem 3.6.2. By examining the expression (28) and reviewing the process by which we derived it, we can see that there may be two major difficulties in using the method of variation of parameters. As we have mentioned earlier, one is the determination of y1 (t) and y2 (t), a fundamental set of solutions of the homogeneous equation (18), when the coefficients in that equation are not constants. The other possible difficulty is in the evaluation of the integrals appearing in Eq. (28). This depends entirely on the nature of the functions y1 , y2 , and g. In using Eq. (28), be sure that the differential equation is exactly in the form (16); otherwise, the nonhomogeneous term g(t) will not be correctly identified. A major advantage of the method of variation of parameters is that Eq. (28) provides an expression for the particular solution Y (t) in terms of an arbitrary forcing function g(t). This expression is a good starting point if you wish to investigate the effect of variations in the forcing function, or if you wish to analyze the response of a system to a number of different forcing functions.
PROBLEMS
In each of Problems 1 through 4 use the method of variation of parameters to find a particular solution of the given differential equation. Then check your answer by using the method of undetermined coefficients. 1. y − 5y + 6y = 2et 3. y + 2y + y = 3e−t
2. y − y − 2y = 2e−t 4. 4y − 4y + y = 16 et/2
184
Chapter 3. Second Order Linear Equations
In each of Problems 5 through 12 find the general solution of the given differential equation. In Problems 11 and 12 g is an arbitrary continuous function. 5. 7. 9. 11.
y + y = tan t, 0 < t < π/2 y + 4y + 4y = t −2 e−2t , t >0 4y + y = 2 sec(t/2), −π < t < π y − 5y + 6y = g(t)
6. 8. 10. 12.
y + 9y = 9 sec2 3t, 0 < t < π/6 y + 4y = 3 csc 2t, 0 < t < π/2 y − 2y + y = et /(1 + t 2 ) y + 4y = g(t)
In each of Problems 13 through 20 verify that the given functions y1 and y2 satisfy the corresponding homogeneous equation; then find a particular solution of the given nonhomogeneous equation. In Problems 19 and 20 g is an arbitrary continuous function. y1 (t) = t 2 , y2 (t) = t −1 t 2 y − 2y = 3t 2 − 1, t > 0; 2 3 t y − t (t + 2)y + (t + 2)y = 2t , t > 0; y1 (t) = t, y2 (t) = tet 2 2t t y − (1 + t)y + y = t e , t > 0; y1 (t) = 1 + t, y2 (t) = et 2 −t (1 − t)y + t y − y = 2(t − 1) e , 0 < t < 1; y1 (t) = et , y2 (t) = t 2 2 2 x y − 3x y + 4y = x ln x, x > 0; y1 (x) = x , y2 (x) = x 2 ln x 2 2 3/2 x y + x y + (x − 0.25)y = 3x sin x, x > 0; y1 (x) = x −1/2 sin x, y2 (x) = −1/2 cos x x 19. (1 − x)y + x y − y = g(x), 0 < x < 1; y1 (x) = e x , y2 (x) = x 2 2 20. x y + x y + (x − 0.25)y = g(x), x > 0; y1 (x) = x −1/2 sin x, y2 (x) = −1/2 cos x x 21. Show that the solution of the initial value problem 13. 14. 15. 16. 17. 18.
L[y] = y + p(t)y + q(t)y = g(t),
y(t0 ) = y0 ,
y (t0 ) = y0
(i)
can be written as y = u(t) + v(t), where u and v are solutions of the two initial value problems u(t0 ) = y0 ,
L[u] = 0, L[v] = g(t),
u (t0 ) = y0 ,
v(t0 ) = 0,
v (t0 ) = 0,
(ii) (iii)
respectively. In other words, the nonhomogeneities in the differential equation and in the initial conditions can be dealt with separately. Observe that u is easy to find if a fundamental set of solutions of L[u] = 0 is known. 22. By choosing the lower limit of integration in Eq. (28) in the text as the initial point t0 , show that Y (t) becomes t y1 (s)y2 (t) − y1 (t)y2 (s) Y (t) = g(s) ds. t0 y1 (s)y2 (s) − y1 (s)y2 (s) Show that Y (t) is a solution of the initial value problem y(t0 ) = 0,
L[y] = g(t),
y (t0 ) = 0.
Thus Y can be identified with v in Problem 21. 23. (a) Use the result of Problem 22 to show that the solution of the initial value problem y + y = g(t), is
y=
y(t0 ) = 0, t
y (t0 ) = 0
sin(t − s)g(s) ds.
t0
(b) Find the solution of the initial value problem y + y = g(t),
y(0) = y0 ,
y (0) = y0 .
(i)
(ii)
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3.7 Variation of Parameters
24. Use the result of Problem 22 to find the solution of the initial value problem y(t0 ) = 0,
L[y] = (D − a)(D − b)y = g(t),
y (t0 ) = 0,
where a and b are real numbers with a = b. 25. Use the result of Problem 22 to find the solution of the initial value problem L[y] = [D 2 − 2λD + (λ2 + µ2 )]y = g(t),
y(t0 ) = 0,
y (t0 ) = 0.
Note that the roots of the characteristic equation are λ ± iµ. 26. Use the result of Problem 22 to find the solution of the initial value problem L[y] = (D − a)2 y = g(t),
y(t0 ) = 0,
y (t0 ) = 0,
where a is any real number. 27. By combining the results of Problems 24 through 26, show that the solution of the initial value problem L[y] = (a D 2 + bD + c)y = g(t),
y(t0 ) = 0,
y (t0 ) = 0,
where a, b, and c are constants, has the form t K (t − s)g(s) ds. y = φ(t) =
(i)
t0
The function K depends only on the solutions y1 and y2 of the corresponding homogeneous equation and is independent of the nonhomogeneous term. Once K is determined, all nonhomogeneous problems involving the same differential operator L are reduced to the evaluation of an integral. Note also that although K depends on both t and s, only the combination t − s appears, so K is actually a function of a single variable. Thinking of g(t) as the input to the problem and φ(t) as the output, it follows from Eq. (i) that the output depends on the input over the entire interval from the initial point t0 to the current value t. The integral in Eq. (i) is called the convolution of K and g, and K is referred to as the kernel. 28. The method of reduction of order (Section 3.5) can also be used for the nonhomogeneous equation y + p(t)y + q(t)y = g(t),
(i)
provided one solution y1 of the corresponding homogeneous equation is known. Let y = v(t)y1 (t) and show that y satisfies Eq. (i) if v is a solution of y1 (t)v + [2y1 (t) + p(t)y1 (t)]v = g(t).
(ii)
Equation (ii) is a first order linear equation for v . Solving this equation, integrating the result, and then multiplying by y1 (t) lead to the general solution of Eq. (i). In each of Problems 29 through 32 use the method outlined in Problem 28 to solve the given differential equation. 29. 30. 31. 32.
y1 (t) = t t 2 y − 2t y + 2y = 4t 2 , t > 0; t 2 y + 7t y + 5y = t, t > 0; y1 (t) = t −1 t y − (1 + t)y + y = t 2 e2t , t > 0; y1 (t) = 1 + t (see Problem 15) (1 − t)y + t y − y = 2(t − 1)2 e−t , 0 < t < 1; y1 (t) = et (see Problem 16)
186
Chapter 3. Second Order Linear Equations
3.8 Mechanical and Electrical Vibrations ODE
One of the reasons that second order linear equations with constant coefficients are worth studying is that they serve as mathematical models of some important physical processes. Two important areas of application are in the fields of mechanical and electrical oscillations. For example, the motion of a mass on a vibrating spring, the torsional oscillations of a shaft with a flywheel, the flow of electric current in a simple series circuit, and many other physical problems are all described by the solution of an initial value problem of the form ay + by + cy = g(t),
y(0) = y0 ,
y (0) = y0 .
(1)
This illustrates a fundamental relationship between mathematics and physics: Many physical problems may have the same mathematical model. Thus, once we know how to solve the initial value problem (1), it is only necessary to make appropriate interpretations of the constants a, b, and c, and the functions y and g, to obtain solutions of different physical problems. We will study the motion of a mass on a spring in detail because an understanding of the behavior of this simple system is the first step in the investigation of more complex vibrating systems. Further, the principles involved are common to many problems. Consider a mass m hanging on the end of a vertical spring of original length l, as shown in Figure 3.8.1. The mass causes an elongation L of the spring in the downward (positive) direction. There are two forces acting at the point where the mass is attached to the spring; see Figure 3.8.2. The gravitational force, or weight of the mass, acts downward and has magnitude mg, where g is the acceleration due to gravity. There is also a force Fs , due to the spring, that acts upward. If we assume that the elongation L of the spring is small, the spring force is very nearly proportional to L; this is known
l l+L+u L m m
u
FIGURE 3.8.1 A spring–mass system. Fs = –kL
w = mg
FIGURE 3.8.2 Force diagram for a spring–mass system.
187
3.8 Mechanical and Electrical Vibrations
as Hooke’s8 law. Thus we write Fs = −k L, where the constant of proportionality k is called the spring constant, and the minus sign is due to the fact that the spring force acts in the upward (negative) direction. Since the mass is in equilibrium, the two forces balance each other, which means that mg − k L = 0.
(2)
For a given weight w = mg, one can measure L and then use Eq. (2) to determine k. Note that k has the units of force/length. In the corresponding dynamic problem we are interested in studying the motion of the mass when it is acted on by an external force or is initially displaced. Let u(t), measured positive downward, denote the displacement of the mass from its equilibrium position at time t; see Figure 3.8.1. Then u(t) is related to the forces acting on the mass through Newton’s law of motion, mu (t) = f (t),
(3)
where u is the acceleration of the mass and f is the net force acting on the mass. Observe that both u and f are functions of time. In determining f there are four separate forces that must be considered: 1. 2.
The weight w = mg of the mass always acts downward. The spring force Fs is assumed to be proportional to the total elongation L + u of the spring and always acts to restore the spring to its natural position. If L + u > 0, then the spring is extended, and the spring force is directed upward. In this case Fs = −k(L + u).
3.
(4)
On the other hand, if L + u < 0, then the spring is compressed a distance |L + u|, and the spring force, which is now directed downward, is given by Fs = k|L + u|. However, when L + u < 0, it follows that |L + u| = −(L + u), so Fs is again given by Eq. (4). Thus, regardless of the position of the mass, the force exerted by the spring is always expressed by Eq. (4). The damping or resistive force Fd always acts in the direction opposite to the direction of motion of the mass. This force may arise from several sources: resistance from the air or other medium in which the mass moves, internal energy dissipation due to the extension or compression of the spring, friction between the mass and the guides (if any) that constrain its motion to one dimension, or a mechanical device (dashpot) that imparts a resistive force to the mass. In any case, we assume that the resistive force is proportional to the speed |du/dt| of the mass; this is usually referred to as viscous damping. If du/dt > 0, then u is increasing, so the mass is moving downward. Then Fd is directed upward and is given by Fd (t) = −γ u (t),
(5)
where γ is a positive constant of proportionality known as the damping constant. On the other hand, if du/dt < 0, then u is decreasing, the mass is moving upward, and Fd is directed downward. In this case, Fd = γ |u (t)|; since |u (t)| = −u (t), 8
Robert Hooke (1635 –1703) was an English scientist with wide-ranging interests. His most important book, Micrographia, was published in 1665 and described a variety of microscopical observations. Hooke first published his law of elastic behavior in 1676 as an anagram: ceiiinosssttuv; in 1678 he gave the solution ut tensio sic vis, which means, roughly, “as the force so is the displacement.”
188
Chapter 3. Second Order Linear Equations
4.
it follows that Fd (t) is again given by Eq. (5). Thus, regardless of the direction of motion of the mass, the damping force is always expressed by Eq. (5). The damping force may be rather complicated and the assumption that it is modeled adequately by Eq. (5) may be open to question. Some dashpots do behave as Eq. (5) states, and if the other sources of dissipation are small, it may be possible to neglect them altogether, or to adjust the damping constant γ to approximate them. An important benefit of the assumption (5) is that it leads to a linear (rather than a nonlinear) differential equation. In turn, this means that a thorough analysis of the system is straightforward, as we will show in this section and the next. An applied external force F(t) is directed downward or upward as F(t) is positive or negative. This could be a force due to the motion of the mount to which the spring is attached, or it could be a force applied directly to the mass. Often the external force is periodic. Taking account of these forces, we can now rewrite Newton’s law (3) as mu (t) = mg + Fs (t) + Fd (t) + F(t) = mg − k[L + u(t)] − γ u (t) + F(t).
(6)
Since mg − k L = 0 by Eq. (2), it follows that the equation of motion of the mass is mu (t) + γ u (t) + ku(t) = F(t),
(7)
where the constants m, γ , and k are positive. Note that Eq. (7) has the same form as Eq. (1). It is important to understand that Eq. (7) is only an approximate equation for the displacement u(t). In particular, both Eqs. (4) and (5) should be viewed as approximations for the spring force and the damping force, respectively. In our derivation we have also neglected the mass of the spring in comparison with the mass of the attached body. The complete formulation of the vibration problem requires that we specify two initial conditions, namely, the initial position u 0 and the initial velocity v0 of the mass: u(0) = u 0 ,
u (0) = v0 .
(8)
It follows from Theorem 3.2.1 that these conditions give a mathematical problem that has a unique solution. This is consistent with our physical intuition that if the mass is set in motion with a given initial displacement and velocity, then its position will be determined uniquely at all future times. The position of the mass is given (approximately) by the solution of Eq. (7) subject to the prescribed initial conditions (8).
EXAMPLE
1
A mass weighing 4 lb stretches a spring 2 in. Suppose that the mass is displaced an additional 6 in. in the positive direction and then released. The mass is in a medium that exerts a viscous resistance of 6 lb when the mass has a velocity of 3 ft/sec. Under the assumptions discussed in this section, formulate the initial value problem that governs the motion of the mass. The required initial value problem consists of the differential equation (7) and initial conditions (8), so our task is to determine the various constants that appear in these equations. The first step is to choose the units of measurement. Based on the statement of the problem, it is natural to use the English rather than the metric system of units. The
189
3.8 Mechanical and Electrical Vibrations
only time unit mentioned is the second, so we will measure t in seconds. On the other hand, both the foot and inch appear in the statement as units of length. It is immaterial which one we use, but having made a choice, it is important to be consistent. To be definite, let us measure the displacement u in feet. Since nothing is said in the statement of the problem about an external force, we assume that F(t) = 0. To determine m note that m=
1 lb-sec2 4 lb w = = . g 8 ft 32 ft/ sec2
The damping coefficient γ is determined from the statement that γ u is equal to 6 lb when u is 3 ft/sec. Therefore lb-sec 6 lb =2 . γ = 3 ft/sec ft The spring constant k is found from the statement that the mass stretches the spring by 2 in., or by 1/6 ft. Thus k=
lb 4 lb = 24 . 1/6 ft ft
Consequently, Eq. (7) becomes 1 u 8
+ 2u + 24u = 0,
or u + 16u + 192u = 0.
(9)
The initial conditions are u(0) = 12 ,
u (0) = 0.
(10)
The second initial condition is implied by the word “released” in the statement of the problem, which we interpret to mean that the mass is set in motion with no initial velocity. Undamped Free Vibrations. If there is no external force, then F(t) = 0 in Eq. (7). Let us also suppose that there is no damping, so that γ = 0; this is an idealized configuration of the system, seldom (if ever) completely attainable in practice. However, if the actual damping is very small, the assumption of no damping may yield satisfactory results over short to moderate time intervals. Then the equation of motion (7) reduces to mu + ku = 0.
(11)
u = A cos ω0 t + B sin ω0 t,
(12)
ω02 = k/m.
(13)
The general solution of Eq. (11) is
where
The arbitrary constants A and B can be determined if initial conditions of the form (8) are given.
190
Chapter 3. Second Order Linear Equations
In discussing the solution of Eq. (11) it is convenient to rewrite Eq. (12) in the form u = R cos(ω0 t − δ),
(14)
u = R cos δ cos ω0 t + R sin δ sin ω0 t.
(15)
or By comparing Eq. (15) with Eq. (12), we find that A, B, R, and δ are related by the equations A = R cos δ, Thus R=
B = R sin δ.
A2 + B 2 ,
(16)
tan δ = B/ A.
(17)
In calculating δ care must be taken to choose the correct quadrant; this can be done by checking the signs of cos δ and sin δ in Eqs. (16). The graph of Eq. (14), or the equivalent Eq. (12), for a typical set of initial conditions is shown in Figure 3.8.3. The graph is a displaced cosine wave that describes a periodic, or simple harmonic, motion of the mass. The period of the motion is m 1/2 2π = 2π . (18) T = ω0 k √ The circular frequency ω0 = k/m, measured in radians per unit time, is called the natural frequency of the vibration. The maximum displacement R of the mass from equilibrium is the amplitude of the motion. The dimensionless parameter δ is called the phase, or phase angle, and measures the displacement of the wave from its normal position corresponding to δ = 0. Note that the motion described by Eq. (14) has a constant amplitude that does not diminish with time. This reflects the fact that in the absence of damping there is no way for the system to dissipate the energy imparted to it by the initial displacement and velocity. Further, for a given mass m and spring constant k, the system always vibrates at the same frequency ω0 , regardless of the initial conditions. However, the initial conditions do help to determine the amplitude of the motion. Finally, observe from Eq. (18) that T increases as m increases, so larger masses vibrate more slowly. On the other hand, T decreases as k increases, which means that stiffer springs cause the system to vibrate more rapidly. u R R cos δ
δ
δ+ π
δ + 2π
ω 0t
–R
FIGURE 3.8.3 Simple harmonic motion; u = R cos(ω0 t − δ).
191
3.8 Mechanical and Electrical Vibrations
EXAMPLE
2
Suppose that a mass weighing 10 lb stretches a spring 2 in. If the mass is displaced an additional 2 in. and is then set in motion with an initial upward velocity of 1 ft/sec, determine the position of the mass at any later time. Also determine the period, amplitude, and phase of the motion. The spring constant is k = 10 lb/2 in. = 60 lb/ft and the mass is m = w/g = 10/32 lb-sec2 /ft. Hence the equation of motion reduces to u + 192u = 0,
(19)
and the general solution is √ √ u = A cos(8 3t) + B sin(8 3t). The solution satisfying the initial conditions u(0) = 1/6 ft and u (0) = −1 ft/sec is √ √ 1 1 cos(8 3t) − √ sin(8 3t). (20) 6 8 3 √ The natural frequency is ω0 = 192 ∼ = = 13.856 rad/sec, so the period is T = 2π/w0 ∼ 0.45345 sec. The amplitude R and phase δ are found from Eqs. (17). We have u=
1 1 19 + = , so R ∼ = 0.18162 ft. 36 192 576 √ The second of Eqs. (17) yields tan δ = − 3/4. There are two solutions of this equation, one in the second quadrant and one in the fourth. In the present problem cos δ > 0 and sin δ < 0, so δ is in the fourth quadrant, namely, √ δ = − arctan( 3/4) ∼ = −0.40864 rad. R2 =
The graph of the solution (20) is shown in Figure 3.8.4.
u 0.2
R~ = 0.182
0.5 – 0.2
u = 0.182 cos(8√3 t + 0.409)
1
1.5
t
T~ = 0.453
FIGURE 3.8.4 An undamped free vibration; u + 192u = 0, u(0) = 1/6, u (0) = −1.
Damped Free Vibrations. If we include the effect of damping, the differential equation governing the motion of the mass is mu + γ u + ku = 0.
(21)
192
Chapter 3. Second Order Linear Equations
We are especially interested in examining the effect of variations in the damping coefficient γ for given values of the mass m and spring constant k. The roots of the corresponding characteristic equation are γ −γ ± γ 2 − 4km 4km = (22) r1 , r2 = −1 ± 1 − 2 . 2m 2m γ Depending on the sign of γ 2 − 4km, the solution u has one of the following forms: γ 2 − 4km > 0, γ 2 − 4km = 0,
u = Aer1 t + Ber2 t ; u = ( A + Bt)e−γ t/2m ;
(23) (24)
(4km − γ 2 )1/2 > 0. 2m (25) Since m, γ , and k are positive, γ 2 − 4km is always less than γ 2 . Hence, if γ 2 − 4km ≥ 0, then the values of r1 and r2 given by Eq. (22) are negative. If γ 2 − 4km < 0, then the values of r1 and r2 are complex, but with negative real part. Thus, in all cases, the solution u tends to zero as t → ∞; this occurs regardless of the values of the arbitrary constants A and B, that is, regardless of the initial conditions. This confirms our intuitive expectation, namely, that damping gradually dissipates the energy initially imparted to the system, and consequently the motion dies out with increasing time. The most important case is the third one, which occurs when the damping is small. If we let A = R cos δ and B = R sin δ in Eq. (25), then we obtain γ 2 − 4km < 0,
u = e−γ t/2m ( A cos µt + B sin µt),
µ=
u = Re−γ t/2m cos(µt − δ).
(26)
The displacement u lies between the curves u = ±Re−γ t/2m ; hence it resembles a cosine wave whose amplitude decreases as t increases. A typical example is sketched in Figure 3.8.5. The motion is called a damped oscillation, or a damped vibration. The amplitude factor R depends on m, γ , k, and the initial conditions. Although the motion is not periodic, the parameter µ determines the frequency with which the mass oscillates back and forth; consequently, µ is called the quasi frequency. By comparing µ with the frequency ω0 of undamped motion, we find that 1/2 γ2 (4km − γ 2 )1/2 /2m γ2 µ ∼ = . (27) = 1− √ =1− ω0 4km 8km k/m u Re– γ t/2m R cos δ
δ
δ +π
δ + 2π
δ + 3π
µt
−Re–γ t/2m
FIGURE 3.8.5 Damped vibration; u = Re−γ t/2m cos(µt − δ).
193
3.8 Mechanical and Electrical Vibrations
The last approximation is valid when γ 2 /4km is small; we refer to this situation as “small damping.” Thus, the effect of small damping is to reduce slightly the frequency of the oscillation. By analogy with Eq. (18) the quantity Td = 2π/µ is called the quasi period. It is the time between successive maxima or successive minima of the position of the mass, or between successive passages of the mass through its equilibrium position while going in the same direction. The relation between Td and T is given by −1/2 Td ω0 γ2 γ2 ∼ = = 1− , (28) = 1+ T µ 4km 8km where again the last approximation is valid when γ 2 /4km is small. Thus, small damping increases the quasi period. Equations (27) and (28) reinforce the significance of the dimensionless ratio γ 2 /4km. It is not the magnitude of γ alone that determines whether damping is large or small, but the magnitude of γ 2 compared to 4km. When γ 2 /4km is small, then we can neglect the effect of damping in calculating the quasi frequency and quasi period of the motion. On the other hand, if we want to study the detailed motion of the mass for all time, then we can never neglect the damping force, no matter how small. and the quasi period Td As γ 2 /4km increases, the quasi frequency µ decreases √ increases. In fact, µ → 0 and Td → ∞ as γ → 2 km. As indicated by Eqs.√(23), (24), and (25), the nature of the solution changes as γ passes through the value 2 km. This value is known as critical damping, while for larger values of γ the motion is said to be overdamped. In these cases, given by Eqs. (24) and (23), respectively, the mass creeps back to its equilibrium position, but does not oscillate about it, as for small γ . Two typical examples of critically damped motion are shown in Figure 3.8.6, and the situation is discussed further in Problems 21 and 22. u 2 u(0) = 12 , u'(0) = 74 u= 1
2
–1
4
( 6
1 2
)
+ 2t e– t/2
t 8 10 1 7 u(0) = 2 , u'(0) = – 4 u=
(
1 2
–
3 2
)
t e– t/2
FIGURE 3.8.6 Critically damped motions: u + u + 0.25u = 0; u = (A + Bt)e−t/2 .
The motion of a certain spring–mass system is governed by the differential equation EXAMPLE
3
u + 0.125u + u = 0,
(29)
where u is measured in feet and t in seconds. If u(0) = 2 and u (0) = 0, determine the position of the mass at any time. Find the quasi frequency and the quasi period, as well
194
Chapter 3. Second Order Linear Equations
as the time at which the mass first passes through its equilibrium position. Also find the time τ such that |u(t)| < 0.1 for all t > τ . The solution of Eq. (29) is √ √ 255 255 t + B sin t . u = e−t/16 A cos 16 16 √ To satisfy the initial conditions we must choose A = 2 and B = 2/ 255; hence the solution of the initial value problem is √ √ 2 255 255 sin t+√ t u = e−t/16 2 cos 16 16 255 √ 255 32 −t/16 e t −δ , (30) cos =√ 16 255 √ where tan δ = 1/ 255, so δ ∼ = 0.06254. The displacement of the mass as a function of time is shown in Figure 3.8.7. For the purpose of comparison we also show the motion if the damping term is neglected. u u" + u = 0 u" + 0.125 u' + u = 0
2
u(0) = 2, u' (0) = 0
1
10
20
30
40
50
t
–1
–2
FIGURE 3.8.7 Vibration with small damping (solid curve) and with no damping (dashed curve).
√ The quasi frequency is µ = 255/16 ∼ = = 0.998 and the quasi period is Td = 2π/µ ∼ 6.295 sec. These values differ only slightly from the corresponding values (1 and 2π, respectively) for the undamped oscillation. This is evident also from the graphs in Figure 3.8.7, which rise and fall almost together. The damping coefficient is small in this example, only one-sixteenth of the critical value, in fact. Nevertheless, the amplitude of the oscillation is reduced rather rapidly. Figure 3.8.8 shows the graph of the solution for 40 ≤ t ≤ 60, together with the graphs of u = ±0.1. From the
195
3.8 Mechanical and Electrical Vibrations
graph it appears that τ is about 47.5 and by a more precise calculation we find that τ∼ = 47.5149 sec. To find the time at which √ the mass first passes through its equilibrium position, we refer to Eq. (30) and set 255t/16 − δ equal to π/2, the smallest positive zero of the cosine function. Then, by solving for t, we obtain 16 π +δ ∼ t=√ = 1.637 sec . 255 2 u u = 0.1
0.1
u=
32 √255
e–t/16 cos
√255 16
(
)
t – 0.06254
0.05
τ 40
45
50
55
60
t
–0.05 u = – 0.1
–0.1
–0.15
FIGURE 3.8.8 Solution of Example 3; determination of τ .
Electric Circuits. A second example of the occurrence of second order linear differential equations with constant coefficients is as a model of the flow of electric current in the simple series circuit shown in Figure 3.8.9. The current I , measured in amperes, is a function of time t. The resistance R (ohms), the capacitance C (farads), and the inductance L (henrys) are all positive and are assumed to be known constants. The impressed voltage E (volts) is a given function of time. Another physical quantity that enters the discussion is the total charge Q (coulombs) on the capacitor at time t. The relation between charge Q and current I is I = d Q/dt. Resistance R
(31)
Capacitance C
I
Inductance L
Impressed voltage E(t)
FIGURE 3.8.9 A simple electric circuit.
196
Chapter 3. Second Order Linear Equations
The flow of current in the circuit is governed by Kirchhoff’s9 second law: In a closed circuit, the impressed voltage is equal to the sum of the voltage drops in the rest of the circuit. According to the elementary laws of electricity, we know that: The voltage drop across the resistor is I R. The voltage drop across the capacitor is Q/C. The voltage drop across the inductor is Ld I /dt. Hence, by Kirchhoff’s law, 1 dI + R I + Q = E(t). (32) dt C The units have been chosen so that 1 volt = 1 ohm · 1 ampere = 1 coulomb/1 farad = 1 henry · 1 ampere/1 second. Substituting for I from Eq. (31), we obtain the differential equation L
L Q + R Q +
1 Q = E(t) C
(33)
for the charge Q. The initial conditions are Q(t0 ) = Q 0 ,
Q (t0 ) = I (t0 ) = I0 .
(34)
Thus we must know the charge on the capacitor and the current in the circuit at some initial time t0 . Alternatively, we can obtain a differential equation for the current I by differentiating Eq. (33) with respect to t, and then substituting for d Q/dt from Eq. (31). The result is L I + R I +
1 I = E (t), C
(35)
I (t0 ) = I0 .
(36)
with the initial conditions I (t0 ) = I0 , From Eq. (32) it follows that E(t0 ) − R I0 − (I /C)Q 0 . (37) L Hence I0 is also determined by the initial charge and current, which are physically measurable quantities. The most important conclusion from this discussion is that the flow of current in the circuit is described by an initial value problem of precisely the same form as the one that describes the motion of a spring–mass system. This is a good example of the unifying role of mathematics: Once you know how to solve second order linear equations with constant coefficients, you can interpret the results either in terms of mechanical vibrations, electric circuits, or any other physical situation that leads to the same problem. I0 =
9
Gustav Kirchhoff (1824 –1887), professor at Breslau, Heidelberg, and Berlin, was one of the leading physicists of the nineteenth century. He discovered the basic laws of electric circuits about 1845 while still a student at Ko¨nigsberg. He is also famous for fundamental work in electromagnetic absorption and emission and was one of the founders of spectroscopy.
197
3.8 Mechanical and Electrical Vibrations
PROBLEMS
In each of Problems 1 through 4 determine ω0 , R, and δ so as to write the given expression in the form u = R cos(ω0 t − δ). √ 1. u = 3 cos 2t + 4 sin 2t 2. u = − cos t + 3 sin t 3. u = 4 cos 3t − 2 sin 3t 4. u = −2 cos π t − 3 sin π t 䉴 5. A mass weighing 2 lb stretches a spring 6 in. If the mass is pulled down an additional 3 in. and then released, and if there is no damping, determine the position u of the mass at any time t. Plot u versus t. Find the frequency, period, and amplitude of the motion. 6. A mass of 100 g stretches a spring 5 cm. If the mass is set in motion from its equilibrium position with a downward velocity of 10 cm/sec, and if there is no damping, determine the position u of the mass at any time t. When does the mass first return to its equilibrium position? 7. A mass weighing 3 lb stretches a spring 3 in. If the mass is pushed upward, contracting the spring a distance of 1 in., and then set in motion with a downward velocity of 2 ft/sec, and if there is no damping, find the position u of the mass at any time t. Determine the frequency, period, amplitude, and phase of the motion. 8. A series circuit has a capacitor of 0.25 × 10−6 farad and an inductor of 1 henry. If the initial charge on the capacitor is 10−6 coulomb and there is no initial current, find the charge Q on the capacitor at any time t. 䉴 9. A mass of 20 g stretches a spring 5 cm. Suppose that the mass is also attached to a viscous damper with a damping constant of 400 dyne-sec/cm. If the mass is pulled down an additional 2 cm and then released, find its position u at any time t. Plot u versus t. Determine the quasi frequency and the quasi period. Determine the ratio of the quasi period to the period of the corresponding undamped motion. Also find the time τ such that |u(t)| < 0.05 cm for all t > τ . 䉴 10. A mass weighing 16 lb stretches a spring 3 in. The mass is attached to a viscous damper with a damping constant of 2 lb-sec/ft. If the mass is set in motion from its equilibrium position with a downward velocity of 3 in./sec, find its position u at any time t. Plot u versus t. Determine when the mass first returns to its equilibrium position. Also find the time τ such that |u(t)| < 0.01 in. for all t > τ . 11. A spring is stretched 10 cm by a force of 3 newtons. A mass of 2 kg is hung from the spring and is also attached to a viscous damper that exerts a force of 3 newtons when the velocity of the mass is 5 m/sec. If the mass is pulled down 5 cm below its equilibrium position and given an initial downward velocity of 10 cm/sec, determine its position u at any time t. Find the quasi frequency µ and the ratio of µ to the natural frequency of the corresponding undamped motion. 12. A series circuit has a capacitor of 10−5 farad, a resistor of 3 × 102 ohms, and an inductor of 0.2 henry. The initial charge on the capacitor is 10−6 coulomb and there is no initial current. Find the charge Q on the capacitor at any time t. 13. A certain vibrating system satisfies the equation u + γ u + u = 0. Find the value of the damping coefficient γ for which the quasi period of the damped motion is 50% greater than the period of the corresponding undamped motion. 14. Show that the√period of motion of an undamped vibration of a mass hanging from a vertical spring is 2π L/g, where L is the elongation of the spring due to the mass and g is the acceleration due to gravity. 15. Show that the solution of the initial value problem mu + γ u + ku = 0,
u(t0 ) = u 0 ,
u (t0 ) = u 0
can be expressed as the sum u = v + w, where v satisfies the initial conditions v(t0 ) = u 0 , v (t0 ) = 0, w satisfies the initial conditions w(t0 ) = 0, w (t0 ) = u 0 , and both v and w satisfy the same differential equation as u. This is another instance of superposing solutions of simpler problems to obtain the solution of a more general problem.
198
Chapter 3. Second Order Linear Equations
16. Show that A cos ω0 t + B sin ω0 t can be written in the form r sin(ω0 t − θ ). Determine r and θ in terms of A and B. If R cos(ω0 t − δ) = r sin(ω0 t − θ ), determine the relationship among R, r , δ, and θ . 17. A mass weighing 8 lb stretches a spring 1.5 in. The mass is also attached to a damper with coefficient γ . Determine the value of γ for which the system is critically damped; be sure to give the units for γ . 18. If a series circuit has a capacitor of C = 0.8 × 10−6 farad and an inductor of L = 0.2 henry, find the resistance R so that the circuit is critically damped. 19. Assume that the system described by the equation mu + γ u + ku = 0 is either critically damped or overdamped. Show that the mass can pass through the equilibrium position at most once, regardless of the initial conditions. Hint: Determine all possible values of t for which u = 0. 20. Assume that the system described by the equation mu + γ u + ku = 0 is critically damped and the initial conditions are u(0) = u 0 , u (0) = v0 . If v0 = 0, show that u → 0 as t → ∞, but that u is never zero. If u 0 is positive, determine a condition on v0 that will assure that the mass passes through its equilibrium position after it is released. 21. Logarithmic Decrement. (a) For the damped oscillation described by Eq. (26), show that the time between successive maxima is Td = 2π/µ. (b) Show that the ratio of the displacements at two successive maxima is given by exp(γ Td /2m). Observe that this ratio does not depend on which pair of maxima is chosen. The natural logarithm of this ratio is called the logarithmic decrement and is denoted by . (c) Show that = π γ /mµ. Since m, µ, and are quantities that can be measured easily for a mechanical system, this result provides a convenient and practical method for determining the damping constant of the system, which is more difficult to measure directly. In particular, for the motion of a vibrating mass in a viscous fluid the damping constant depends on the viscosity of the fluid; for simple geometric shapes the form of this dependence is known, and the preceding relation allows the determination of the viscosity experimentally. This is one of the most accurate ways of determining the viscosity of a gas at high pressure. 22. Referring to Problem 21, find the logarithmic decrement of the system in Problem 10. 23. For the system in Problem 17 suppose that = 3 and Td = 0.3 sec. Referring to Problem 21, determine the value of the damping coefficient γ . 24. The position of a certain spring–mass system satisfies the initial value problem 3 u 2
+ ku = 0,
u(0) = 2,
u (0) = v.
If the period and amplitude of the resulting motion are observed to be π and 3, respectively, determine the values of k and v. 䉴 25. Consider the initial value problem u + γ u + u = 0,
u(0) = 2,
u (0) = 0.
We wish to explore how long a time interval is required for the solution to become “negligible” and how this interval depends on the damping coefficient γ . To be more precise, let us seek the time τ such that |u(t)| < 0.01 for all t > τ . Note that critical damping for this problem occurs for γ = 2. (a) Let γ = 0.25 and determine τ , or at least estimate it fairly accurately from a plot of the solution. (b) Repeat part (a) for several other values of γ in the interval 0 < γ < 1.5. Note that τ steadily decreases as γ increases for γ in this range. (c) Obtain a graph of τ versus γ by plotting the pairs of values found in parts (a) and (b). Is the graph a smooth curve? (d) Repeat part (b) for values of γ between 1.5 and 2. Show that τ continues to decrease until γ reaches a certain critical value γ0 , after which τ increases. Find γ0 and the corresponding minimum value of τ to two decimal places.
199
3.8 Mechanical and Electrical Vibrations
(e) Another way to proceed is to write the solution of the initial value problem in the form (26). Neglect the cosine factor and consider only the exponential factor and the amplitude R. Then find an expression for τ as a function of γ . Compare the approximate results obtained in this way with the values determined in parts (a), (b), and (d). 26. Consider the initial value problem mu + γ u + ku = 0,
u(0) = u 0 ,
u (0) = v0 .
Assume that γ 2 < 4km. (a) Solve the initial value problem. (b) Write the solution in the form u(t) = R exp(−γ t/2m) cos(µt − δ). Determine R in terms of m, γ , k, u 0 , and v0 . (c) Investigate the dependence of R on the damping coefficient γ for fixed values of the other parameters. 27. A cubic block of side l and mass density ρ per unit volume is floating in a fluid of mass density ρ0 per unit volume, where ρ0 > ρ. If the block is slightly depressed and then released, it oscillates in the vertical direction. Assuming that the viscous damping of the fluid and air can be neglected, derive the differential equation of motion and determine the period of the motion. Hint: Use Archimedes’ principle: An object that is completely or partially submerged in a fluid is acted on by an upward (buoyant) force equal to the weight of the displaced fluid. 䉴 28. The position of a certain undamped spring–mass system satisfies the initial value problem u + 2u = 0,
u(0) = 0,
u (0) = 2.
(a) Find the solution of this initial value problem. (b) Plot u versus t and u versus t on the same axes. (c) Plot u versus u; that is, plot u(t) and u (t) parametrically with t as the parameter. This plot is known as a phase plot and the uu -plane is called the phase plane. Observe that a closed curve in the phase plane corresponds to a periodic solution u(t). What is the direction of motion on the phase plot as t increases? 䉴 29. The position of a certain spring–mass system satisfies the initial value problem u + 14 u + 2u = 0,
u(0) = 0,
u (0) = 2.
(a) Find the solution of this initial value problem. (b) Plot u versus t and u versus t on the same axes. (c) Plot u versus u in the phase plane (see Problem 28). Identify several corresponding points on the curves in parts (b) and (c). What is the direction of motion on the phase plot as t increases? 30. In the absence of damping the motion of a spring–mass system satisfies the initial value problem mu + ku = 0,
u(0) = a,
u (0) = b.
(a) Show that the kinetic energy initially imparted to the mass is mb2 /2 and that the potential energy initially stored in the spring is ka 2 /2, so that initially the total energy in the system is (ka 2 + mb2 )/2. (b) Solve the given initial value problem. (c) Using the solution in part (b), determine the total energy in the system at any time t. Your result should confirm the principle of conservation of energy for this system. 31. Suppose that a mass m slides without friction on a horizontal surface. The mass is attached to a spring with spring constant k, as shown in Figure 3.8.10, and is also subject to viscous air resistance with coefficient γ . Show that the displacement u(t) of the mass from its equilibrium position satisfies Eq. (21). How does the derivation of the equation of motion in this case differ from the derivation given in the text?
200
Chapter 3. Second Order Linear Equations u(t) k m
FIGURE 3.8.10 A spring–mass system.
䉴 32. In the spring–mass system of Problem 31, suppose that the spring force is not given by Hooke’s law but instead satisfies the relation Fs = −(ku + u 3 ), where k > 0 and is small but may be of either sign. The spring is called a hardening spring if > 0 and a softening spring if < 0. Why are these terms appropriate? (a) Show that the displacement u(t) of the mass from its equilibrium position satisfies the differential equation mu + γ u + ku + u 3 = 0. Suppose that the initial conditions are u(0) = 0,
u (0) = 1.
In the remainder of this problem assume that m = 1, k = 1, and γ = 0. (b) Find u(t) when = 0 and also determine the amplitude and period of the motion. (c) Let = 0.1. Plot (a numerical approximation to) the solution. Does the motion appear to be periodic? Estimate the amplitude and period. (d) Repeat part (c) for = 0.2 and = 0.3. (e) Plot your estimated values of the amplitude A and the period T versus . Describe the way in which A and T , respectively, depend on . (f) Repeat parts (c), (d), and (e) for negative values of .
3.9 Forced Vibrations ODE
Consider now the case in which a periodic external force, say F0 cos ωt with ω > 0, is applied to a spring–mass system. Then the equation of motion is mu + γ u + ku = F0 cos ωt.
(1)
First suppose that there is no damping; then Eq. (1) reduces to If ω0 =
√
mu + ku = F0 cos ωt.
(2)
k/m = ω, then the general solution of Eq. (2) is u = c1 cos ω0 t + c2 sin ω0 t +
F0 m(ω02
− ω2 )
cos ωt.
(3)
The constants c1 and c2 are determined by the initial conditions. The resulting motion is, in general, the sum of two periodic motions of different frequencies (ω0 and ω) and amplitudes. There are two particularly interesting cases.
201
3.9 Forced Vibrations
Beats. Suppose that the mass is initially at rest, so that u(0) = 0 and u (0) = 0. Then it turns out that the constants c1 and c2 in Eq. (3) are given by F0
c1 = −
m(ω02
− ω2 )
,
c2 = 0,
(4)
and the solution of Eq. (2) is u=
F0 m(ω02
− ω2 )
(cos ωt − cos ω0 t).
(5)
This is the sum of two periodic functions of different periods but the same amplitude. Making use of the trigonometric identities for cos( A ± B) with A = (ω0 + ω)t/2 and B = (ω0 − ω)t/2, we can write Eq. (5) in the form 2F0 (ω0 − ω)t (ω + ω)t . (6) u= sin sin 0 2 2 2 2 m(ω0 − ω ) If |ω0 − ω| is small, then ω0 + ω is much greater than |ω0 − ω|. Consequently, sin(ω0 + ω)t/2 is a rapidly oscillating function compared to sin(ω0 − ω)t/2. Thus the motion is a rapid oscillation with frequency (ω0 + ω)/2, but with a slowly varying sinusoidal amplitude 2F0 m(ω02
−ω ) 2
sin
(ω0 − ω)t . 2
This type of motion, possessing a periodic variation of amplitude, exhibits what is called a beat. Such a phenomenon occurs in acoustics when two tuning forks of nearly equal frequency are sounded simultaneously. In this case the periodic variation of amplitude is quite apparent to the unaided ear. In electronics the variation of the amplitude with u u = 2.77778 sin 0.1t u = 2.77778 sin 0.1 t sin 0.9 t
3 2 1
10
20
30
40
50
60
–1 –2 u = – 2.77778 sin 0.1t –3
FIGURE 3.9.1 A beat; solution of u + u = 0.5 cos 0.8t, u(0) = 0, u (0) = 0; u = 2.77778 sin 0.1t sin 0.9t.
t
202
Chapter 3. Second Order Linear Equations
time is called amplitude modulation. The graph of u as given by Eq. (6) in a typical case is shown in Figure 3.9.1. Resonance. As a second example, consider the case ω = ω0 ; that is, the frequency of the forcing function is the same as the natural frequency of the system. Then the nonhomogeneous term F0 cos ωt is a solution of the homogeneous equation. In this case the solution of Eq. (2) is u = c1 cos ω0 t + c2 sin ω0 t +
F0 t sin ω0 t. 2mω0
(7)
Because of the term t sin ω0 t, the solution (7) predicts that the motion will become unbounded as t → ∞ regardless of the values of c1 and c2 ; see Figure 3.9.2 for a typical example. Of course, in reality unbounded oscillations do not occur. As soon as u becomes large, the mathematical model on which Eq. (1) is based is no longer valid, since the assumption that the spring force depends linearly on the displacement requires that u be small. If damping is included in the model, the predicted motion remains bounded; however, the response to the input function F0 cos ωt may be quite large if the damping is small and ω is close to ω0 . This phenomenon is known as resonance. Resonance can be either good or bad depending on the circumstances. It must be taken very seriously in the design of structures, such as buildings or bridges, where it can produce instabilities possibly leading to the catastrophic failure of the structure. For example, soldiers traditionally break step when crossing a bridge to eliminate the periodic force of their marching that could resonate with a natural frequency of the bridge. Another example occurred in the design of the high-pressure fuel turbopump for the space shuttle main engine. The turbopump was unstable and could not be operated over 20,000 rpm as compared to the design speed of 39,000 rpm. This difficulty led to a shutdown of the space shuttle program for 6 months at an estimated cost of u 10 u = 0.25 t sin t 5
u = 0.25t
10
–5
20
30
40
u = – 0.25t
–10
FIGURE 3.9.2 Resonance; solution of u + u = 0.5 cos t, u(0) = 0, u (0) = 0; u = 0.25t sin t.
t
203
3.9 Forced Vibrations
$500,000/day.10 On the other hand, resonance can be put to good use in the design of instruments, such as seismographs, intended to detect weak periodic incoming signals. Forced Vibrations with Damping. The motion of the spring–mass system with damping and the forcing function F0 cos ωt can be determined in a straightforward manner, although the computations are rather lengthy. The solution of Eq. (1) is u = c1 er1 t + c2 er2 t + R cos(ωt − δ),
r1 = r2
(8)
where R=
F0 ,
cos δ =
and =
m(ω02 − ω2 ) ,
sin δ =
γω ,
m 2 (ω02 − ω2 )2 + γ 2 ω2 .
(9)
(10)
In Eq. (8) r1 and r2 are the roots of the characteristic equation associated with Eq. (1); they may be either real and negative or complex conjugates with negative real part. In either case, both exp(r1 t) and exp(r2 t) approach zero as t → ∞. Hence, as t → ∞, F0 cos(ωt − δ). u → U (t) = 2 2 2 2 2 2 m (ω0 − ω ) + γ ω
(11)
For this reason u c (t) = c1 er1 t + c2 er2 t is called the transient solution; U (t), which represents a steady oscillation with the same frequency as the external force, is called the steady-state solution or the forced response. The transient solution enables us to satisfy whatever initial conditions are imposed; with increasing time the energy put into the system by the initial displacement and velocity is dissipated through the damping force, and the motion then becomes the response of the system to the external force. Without damping, the effect of the initial conditions would persist for all time. It is interesting to investigate how the amplitude R of the steady-state oscillation depends on the frequency ω of the external force. For low-frequency excitation, that is, as ω → 0, it follows from Eqs. (9) and (10) that R → F0 /k. At the other extreme, for very high-frequency excitation, Eqs. (9) and (10) imply that R → 0 as ω → ∞. At an intermediate value of ω the amplitude may have a maximum. To find this maximum point, we can differentiate R with respect to ω and set the result equal to zero. In this way we find that the maximum amplitude occurs when ω = ωmax , where γ2 γ2 2 2 2 ωmax = ω0 − = ω0 1 − . (12) 2km 2m 2 Note that ωmax < ω0 and that ωmax is close to ω0 when γ is small. The maximum value of R is 2 F0 F γ ∼ , (13) Rmax = = 0 1+ γ ω0 8mk γ ω 1 − (γ 2 /4mk) 0
10 F. Ehrich and D. Childs, “Self-Excited Vibration in High-Performance Turbomachinery,” Mechanical Engineering (May 1984), p. 66.
204
Chapter 3. Second Order Linear Equations
where the last expression is an approximation for small γ . If γ 2 /2km > 1, then ωmax as given by Eq. (12) is imaginary; in this case the maximum value of R occurs for ω = 0 and R is a monotone decreasing function of ω. For small γ it follows from Eq. (13) that Rmax ∼ = F0 /γ ω0 . Thus, for small γ , the maximum response is much larger than the amplitude F0 of the external force, and the smaller the value of γ , the larger the ratio Rmax /F0 . Figure 3.9.3 contains some representative graphs of Rk/F0 versus ω/ω0 for several values of γ . The phase angle δ also depends in an interesting way on ω. For ω near zero, it follows from Eqs. (9) and (10) that cos δ ∼ = 1 and sin δ ∼ = 0. Thus δ ∼ = 0, and the response is nearly in phase with the excitation, meaning that they rise and fall together, and in particular, assume their respective maxima nearly together and their respective minima nearly together. For ω = ω0 , we find that cos δ = 0 and sin δ = 1, so δ = π/2. In this case the response lags behind the excitation by π/2; that is, the peaks of the response occur π/2 later than the peaks of the excitation, and similarly for the valleys. Finally, for ω very large, we have cos δ ∼ = −1 and sin δ ∼ = 0. Thus δ ∼ = π, so that the response is nearly out of phase with the excitation; this means that the response is minimum when the excitation is maximum, and vice versa. In Figure 3.9.4 we show the graph of the solution of the initial value problem u + 0.125u + u = 3 cos 2t,
u(0) = 2,
u (0) = 0.
The graph of the forcing function is also shown for comparison. (The unforced motion of this system is shown in Figure 3.8.7.) Observe that the initial transient motion decays as t increases, that the amplitude of the steady forced response is approximately 1, and that the phase difference between the excitation and response is approximately π. Rk/F0 3
Γ=0 2
Γ = 0.5 Γ = 1.0 Γ = 2.0 Γ = 3.0
1
1
2
ω /ω 0
FIGURE 3.9.3 Forced vibration with damping: amplitude of steady-state response versus frequency of driving force; = γ 2 /m 2 ω02 .
205
3.9 Forced Vibrations u Solution of u" + 0.125u' + u = 3 cos 2t u(0) = 2, u'(0) = 0
Forcing function 3 cos 2t
3 2 1
10
20
30
40
50
t
–1 –2 –3
FIGURE 3.9.4 A forced vibration with damping; solution of u + 0.125u + u = 3 cos 2t, u(0) = 2, u (0) = 0.
√ More precisely, we find that = 145/4 ∼ = 3.0104, so R = F0 / ∼ = 0.9965. Further, ∼ cos δ = −3/ = −0.9965 and sin δ = 1/4 ∼ = 0.08305, so that δ ∼ = 3.0585. Thus the calculated values of R and δ are close to the values estimated from the graph.
PROBLEMS
In each of Problems 1 through 4 write the given expression as a product of two trigonometric functions of different frequencies.
䉴
䉴
1. cos 9t − cos 7t 2. sin 7t − sin 6t 3. cos π t + cos 2π t 4. sin 3t + sin 4t 5. A mass weighing 4 lb stretches a spring 1.5 in. The mass is displaced 2 in. in the positive direction from its equilibrium position and released with no initial velocity. Assuming that there is no damping and that the mass is acted on by an external force of 2 cos 3t lb, formulate the initial value problem describing the motion of the mass. 6. A mass of 5 kg stretches a spring 10 cm. The mass is acted on by an external force of 10 sin(t/2) N (newtons) and moves in a medium that imparts a viscous force of 2 N when the speed of the mass is 4 cm /sec. If the mass is set in motion from its equilibrium position with an initial velocity of 3 cm /sec, formulate the initial value problem describing the motion of the mass. 7. (a) Find the solution of Problem 5. (b) Plot the graph of the solution. (c) If the given external force is replaced by a force 4 sin ωt of frequency ω, find the value of ω for which resonance occurs. 8. (a) Find the solution of the initial value problem in Problem 6. (b) Identify the transient and steady-state parts of the solution. (c) Plot the graph of the steady-state solution. (d) If the given external force is replaced by a force 2 cos ωt of frequency ω, find the value of ω for which the amplitude of the forced response is maximum.
206
Chapter 3. Second Order Linear Equations
9. If an undamped spring–mass system with a mass that weighs 6 lb and a spring constant 1 lb/in. is suddenly set in motion at t = 0 by an external force of 4 cos 7t lb, determine the position of the mass at any time and draw a graph of the displacement versus t. 10. A mass that weighs 8 lb stretches a spring 6 in. The system is acted on by an external force of 8 sin 8t lb. If the mass is pulled down 3 in. and then released, determine the position of the mass at any time. Determine the first four times at which the velocity of the mass is zero. 11. A spring is stretched 6 in. by a mass that weighs 8 lb. The mass is attached to a dashpot mechanism that has a damping constant of 0.25 lb-sec/ft and is acted on by an external force of 4 cos 2t lb. (a) Determine the steady-state response of this system. (b) If the given mass is replaced by a mass m, determine the value of m for which the amplitude of the steady-state response is maximum. 12. A spring–mass system has a spring constant of 3 N/m. A mass of 2 kg is attached to the spring and the motion takes place in a viscous fluid that offers a resistance numerically equal to the magnitude of the instantaneous velocity. If the system is driven by an external force of 3 cos 3t − 2 sin 3t N, determine the steady-state response. Express your answer in the form R cos(ωt − δ). 13. Furnish the details in determining when the steady-state response given by Eq. (11) is 2 and Rmax are given by Eqs. (12) and (13), respectively. maximum; that is, show that ωmax 䉴 14. (a) Show that the phase of the forced response of Eq. (1) satisfies tan δ = γ ω/m(ω02 − ω2 ). (b) Plot the phase δ as a function of the forcing frequency ω for the forced response of u + 0.125u + u = 3 cos ωt. 15. Find the solution of the initial value problem u + u = F(t), where
u(0) = 0,
F0 t, F(t) = F0 (2π − t), 0,
u (0) = 0,
0 ≤ t ≤ π, π < t ≤ 2π, 2π < t.
Hint: Treat each time interval separately and match the solutions in the different intervals by requiring that u and u be continuous functions of t. 16. A series circuit has a capacitor of 0.25 × 10−6 farad, a resistor of 5 × 103 ohms, and an inductor of 1 henry. The initial charge on the capacitor is zero. If a 12-volt battery is connected to the circuit and the circuit is closed at t = 0, determine the charge on the capacitor at t = 0.001 sec, at t = 0.01 sec, and at any time t. Also determine the limiting charge as t → ∞. 䉴 17. Consider a vibrating system described by the initial value problem u + 14 u + 2u = 2 cos ωt,
u(0) = 0,
u (0) = 2.
(a) Determine the steady-state part of the solution of this problem. (b) Find the amplitude A of the steady-state solution in terms of ω. (c) Plot A versus ω. (d) Find the maximum value of A and the frequency ω for which it occurs. 䉴 18. Consider the forced but undamped system described by the initial value problem u + u = 3 cos ωt,
u(0) = 0,
u (0) = 0.
(a) Find the solution u(t) for ω = 1. (b) Plot the solution u(t) versus t for ω = 0.7, ω = 0.8, and ω = 0.9. Describe how the response u(t) changes as ω varies in this interval. What happens as ω takes on values closer and closer to 1? Note that the natural frequency of the unforced system is ω0 = 1.
207
3.9 Forced Vibrations
䉴 19. Consider the vibrating system described by the initial value problem u + u = 3 cos ωt,
u(0) = 1,
u (0) = 1.
(a) Find the solution for ω = 1. (b) Plot the solution u(t) versus t for ω = 0.7, ω = 0.8, and ω = 0.9. Compare the results with those of Problem 18, that is, describe the effect of the nonzero initial conditions. 䉴 20. For the initial value problem in Problem 18 plot u versus u for ω = 0.7, ω = 0.8, and ω = 0.9; that is, draw the phase plot of the solution for these values of ω. Use a t interval that is long enough so the phase plot appears as a closed curve. Mark your curve with arrows to show the direction in which it is traversed as t increases. Problems 21 through 23 deal with the initial value problem u + 0.125u + u = F(t),
䉴 䉴 䉴 䉴
u(0) = 2,
u (0) = 0.
In each of these problems: (a) Plot the given forcing function F(t) versus t and also plot the solution u(t) versus t on the same set of axes. Use a t interval that is long enough so the initial transients are substantially eliminated. Observe the relation between the amplitude and √ phase of the forcing term and the amplitude and phase of the response. Note that ω0 = k/m = 1. (b) Draw the phase plot of the solution, that is, plot u versus u. 21. F(t) = 3 cos(0.3t) 22. F(t) = 3 cos t 23. F(t) = 3 cos 3t 24. A spring–mass system with a hardening spring (Problem 32 of Section 3.8) is acted on by a periodic external force. In the absence of damping, suppose that the displacement of the mass satisfies the initial value problem u + u + 15 u 3 = cos ωt,
u(0) = 0,
u (0) = 0.
(a) Let ω = 1 and plot a computer-generated solution of the given problem. Does the system exhibit a beat? (b) Plot the solution for several values of ω between 1/2 and 2. Describe how the solution changes as ω increases. 䉴 25. Suppose that the system of Problem 24 is modified to include a damping term and that the resulting initial value problem is u + 15 u + u + 15 u 3 = cos ωt,
u(0) = 0,
u (0) = 0.
(a) Plot a computer-generated solution of the given problem for several values of ω between 1/2 and 2 and estimate the amplitude R of the steady response in each case. (b) Using the data from part (a), plot the graph of R versus ω. For what frequency ω is the amplitude greatest? (c) Compare the results of parts (a) and (b) with the corresponding results for the linear spring.
REFERENCES Coddington, E. A., An Introduction to Ordinary Differential Equations (Englewood Cliffs, NJ: Prentice Hall, 1961; New York: Dover, 1989). There are many books on mechanical vibrations and electric circuits. One that deals with both is:
Close, C. M., and Frederick, D. K., Modeling and Analysis of Dynamic Systems (2nd ed.) (Boston: Houghton-Mifflin, 1993).
208
Chapter 3. Second Order Linear Equations A classic book on mechanical vibrations is:
Den Hartog, J. P., Mechanical Vibrations (4th ed.) (New York: McGraw-Hill, 1956; New York; Dover, 1985). A more recent intermediate-level book is:
Thomson, W. T., Theory of Vibrations with Applications (3rd ed.) (Englewood Cliffs, NJ: Prentice Hall, 1988). An elementary book on electrical circuits is:
Bobrow, L. S., Elementary Linear Circuit Analysis (New York: Oxford University Press, 1996).
CHAPTER
4
Higher Order Linear Equations
The theoretical structure and methods of solution developed in the preceding chapter for second order linear equations extend directly to linear equations of third and higher order. In this chapter we briefly review this generalization, taking particular note of those instances where new phenomena may appear, due to the greater variety of situations that can occur for equations of higher order.
4.1 General Theory of nth Order Linear Equations An nth order linear differential equation is an equation of the form dn y d n−1 y dy + P (t) + · · · + Pn−1 (t) (1) + Pn (t)y = G(t). n 1 n−1 dt dt dt We assume that the functions P0 , . . . , Pn and G are continuous real-valued functions on some interval I : α < t < β, and that P0 is nowhere zero in this interval. Then, dividing Eq. (1) by P0 (t), we obtain P0 (t)
d n−1 y dy dn y + pn (t)y = g(t). + p (t) + · · · + pn−1 (t) (2) n 1 n−1 dt dt dt The linear differential operator L of order n defined by Eq. (2) is similar to the second order operator introduced in Chapter 3. The mathematical theory associated with Eq. (2) is completely analogous to that for the second order linear equation; for this reason we L[y] =
209
210
Chapter 4. Higher Order Linear Equations
simply state the results for the nth order problem. The proofs of most of the results are also similar to those for the second order equation and are usually left as exercises. Since Eq. (2) involves the nth derivative of y with respect to t, it will, so to speak, require n integrations to solve Eq. (2). Each of these integrations introduces an arbitrary constant. Hence we can expect that, to obtain a unique solution, it is necessary to specify n initial conditions, y(t0 ) = y0 ,
y (t0 ) = y0 ,
...,
y (n−1) (t0 ) = y0(n−1) ,
(3)
where t0 may be any point in the interval I and y0 , y0 , . . . , y0(n−1) is any set of prescribed real constants. That there does exist such a solution and that it is unique are assured by the following existence and uniqueness theorem, which is similar to Theorem 3.2.1.
Theorem 4.1.1
If the functions p1 , p2 , . . . , pn , and g are continuous on the open interval I , then there exists exactly one solution y = φ(t) of the differential equation (2) that also satisfies the initial conditions (3). This solution exists throughout the interval I . We will not give a proof of this theorem here. However, if the coefficients p1 , . . . , pn are constants, then we can construct the solution of the initial value problem (2), (3) much as in Chapter 3; see Sections 4.2 through 4.4. Even though we may find a solution in this case, we do not know that it is unique without the use of Theorem 4.1.1. A proof of the theorem can be found in Ince (Section 3.32) or Coddington (Chapter 6). The Homogeneous Equation. As in the corresponding second order problem, we first discuss the homogeneous equation L[y] = y (n) + p1 (t)y (n−1) + · · · + pn−1 (t)y + pn (t)y = 0.
(4)
If the functions y1 , y2 , . . . , yn are solutions of Eq. (4), then it follows by direct computation that the linear combination y = c1 y1 (t) + c2 y2 (t) + · · · + cn yn (t),
(5)
where c1 , . . . , cn are arbitrary constants, is also a solution of Eq. (4). It is then natural to ask whether every solution of Eq. (4) can be expressed as a linear combination of y1 , . . . , yn . This will be true if, regardless of the initial conditions (3) that are prescribed, it is possible to choose the constants c1 , . . . , cn so that the linear combination (5) satisfies the initial conditions. Specifically, for any choice of the point t0 in I , and for any choice of y0 , y0 , . . . , y0(n−1) , we must be able to determine c1 , . . . , cn so that the equations c1 y1 (t0 ) + · · · + cn yn (t0 ) = y0 c1 y1 (t0 ) + · · · + cn yn (t0 ) = y0 .. . (n−1) (n−1) c1 y1 (t0 ) + · · · + cn yn (t0 ) = y0(n−1)
(6)
are satisfied. Equations (6) can be solved uniquely for the constants c1 , . . . , cn , provided that the determinant of coefficients is not zero. On the other hand, if the determinant of coefficients is zero, then it is always possible to choose values of y0 , y0 , . . . , y0(n−1)
211
4.1 General Theory of nth Order Linear Equations
such that Eqs. (6) do not have a solution. Hence a necessary and sufficient condition for the existence of a solution of Eqs. (6) for arbitrary values of y0 , y0 , . . . , y0(n−1) is that the Wronskian y1 y2 ··· yn y y2 ··· yn 1 (7) W (y1 , . . . , yn ) = . .. .. .. . . (n−1) y y2(n−1) ··· yn(n−1) 1 is not zero at t = t0 . Since t0 can be any point in the interval I , it is necessary and sufficient that W (y1 ,y2 , . . . , yn ) be nonzero at every point in the interval. Just as for the second order linear equation, it can be shown that if y1 , y2 , . . . , yn are solutions of Eq. (4), then W (y1 , y2 , . . . , yn ) is either zero for every t in the interval I or else is never zero there; see Problem 20. Hence we have the following theorem.
Theorem 4.1.2
If the functions p1 , p2 , . . . , pn are continuous on the open interval I , if the functions y1 , y2 , . . . , yn are solutions of Eq. (4), and if W (y1 , y2 , . . . , yn )(t) = 0 for at least one point in I , then every solution of Eq. (4) can be expressed as a linear combination of the solutions y1 , y2 , . . . , yn . A set of solutions y1 , . . . , yn of Eq. (4) whose Wronskian is nonzero is referred to as a fundamental set of solutions. The existence of a fundamental set of solutions can be demonstrated in precisely the same way as for the second order linear equation (see Theorem 3.2.5). Since all solutions of Eq. (4) are of the form (5), we use the term general solution to refer to an arbitrary linear combination of any fundamental set of solutions of Eq. (4). The discussion of linear dependence and independence given in Section 3.3 can also be generalized. The functions f 1 , f 2 , . . . , f n are said to be linearly dependent on I if there exists a set of constants k1 , k2 , . . . , kn , not all zero, such that k1 f 1 + k2 f 2 + · · · + kn f n = 0
(8)
for all t in I . The functions f 1 , . . . , f n are said to be linearly independent on I if they are not linearly dependent there. If y1 , . . . , yn are solutions of Eq. (4), then it can be shown that a necessary and sufficient condition for them to be linearly independent is that W (y1 , . . . , yn )(t0 ) = 0 for some t0 in I (see Problem 25). Hence a fundamental set of solutions of Eq. (4) is linearly independent, and a linearly independent set of n solutions of Eq. (4) forms a fundamental set of solutions. The Nonhomogeneous Equation.
Now consider the nonhomogeneous equation (2),
L[y] = y (n) + p1 (t)y (n−1) + · · · + pn (t)y = g(t). If Y1 and Y2 are any two solutions of Eq. (2), then it follows immediately from the linearity of the operator L that L[Y1 − Y2 ](t) = L[Y1 ](t) − L[Y2 ](t) = g(t) − g(t) = 0. Hence the difference of any two solutions of the nonhomogeneous equation (2) is a solution of the homogeneous equation (4). Since any solution of the homogeneous
212
Chapter 4. Higher Order Linear Equations
equation can be expressed as a linear combination of a fundamental set of solutions y1 , . . . , yn , it follows that any solution of Eq. (2) can be written as y = c1 y1 (t) + c2 y2 (t) + · · · + cn yn (t) + Y (t),
(9)
where Y is some particular solution of the nonhomogeneous equation (2). The linear combination (9) is called the general solution of the nonhomogeneous equation (2). Thus the primary problem is to determine a fundamental set of solutions y1 , . . . , yn of the homogeneous equation (4). If the coefficients are constants, this is a fairly simple problem; it is discussed in the next section. If the coefficients are not constants, it is usually necessary to use numerical methods such as those in Chapter 8 or series methods similar to those in Chapter 5. These tend to become more cumbersome as the order of the equation increases. The method of reduction of order (Section 3.5) also applies to nth order linear equations. If y1 is one solution of Eq. (4), then the substitution y = v(t)y1 (t) leads to a linear differential equation of order n − 1 for v (see Problem 26 for the case when n = 3). However, if n ≥ 3, the reduced equation is itself at least of second order, and only rarely will it be significantly simpler than the original equation. Thus, in practice, reduction of order is seldom useful for equations of higher than second order.
PROBLEMS
In each of Problems 1 through 6 determine intervals in which solutions are sure to exist. 1. y iv + 4y + 3y = t 3. t (t − 1)y iv + et y + 4t 2 y = 0 5. (x − 1)y iv + (x + 1)y + (tan x)y = 0
2. t y + (sin t)y + 3y = cos t 4. y + t y + t 2 y + t 3 y = ln t 6. (x 2 − 4)y vi + x 2 y + 9y = 0
In each of Problems 7 through 10 determine whether the given set of functions is linearly dependent or linearly independent. If they are linearly dependent, find a linear relation among them. 7. 8. 9. 10.
f 1 (t) = 2t f 1 (t) = 2t f 1 (t) = 2t f 1 (t) = 2t
− 3, − 3, − 3, − 3,
f 2 (t) = t 2 + 1, f 3 (t) = 2t 2 − t f 2 (t) = 2t 2 + 1, f 3 (t) = 3t 2 + t f 2 (t) = t 2 + 1, f 3 (t) = 2t 2 − t, f 2 (t) = t 3 + 1, f 3 (t) = 2t 2 − t,
f 4 (t) = t 2 + t + 1 f 4 (t) = t 2 + t + 1
In each of Problems 11 through 16 verify that the given functions are solutions of the differential equation, and determine their Wronskian. 1, cos t, sin t y + y = 0; 1, t, cos t, sin t y iv + y = 0; et , e−t , e−2t y + 2y − y − 2y = 0; iv y + 2y + y = 0; 1, t, e−t , te−t x y − y = 0; 1, x, x 3 x 3 y + x 2 y − 2x y + 2y = 0; x, x 2 , 1/x Show that W (5, sin2 t, cos 2t) = 0 for all t. Can you establish this result without direct evaluation of the Wronskian? 18. Verify that the differential operator defined by
11. 12. 13. 14. 15. 16. 17.
L[y] = y (n) + p1 (t)y (n−1) + · · · + pn (t)y is a linear differential operator. That is, show that L[c1 y1 + c2 y2 ] = c1 L[y1 ] + c2 L[y2 ],
213
4.1 General Theory of nth Order Linear Equations
where y1 and y2 are n times differentiable functions and c1 and c2 are arbitrary constants. Hence, show that if y1 , y2 , . . . , yn are solutions of L[y] = 0, then the linear combination c1 y1 + · · · + cn yn is also a solution of L[y] = 0. 19. Let the linear differential operator L be defined by L[y] = a0 y (n) + a1 y (n−1) + · · · + an y, where a0 , a1 , . . . , an are real constants. (a) Find L[t n ]. (b) Find L[er t ]. (c) Determine four solutions of the equation y iv − 5y + 4y = 0. Do you think the four solutions form a fundamental set of solutions? Why? 20. In this problem we show how to generalize Theorem 3.3.2 (Abel’s theorem) to higher order equations. We first outline the procedure for the third order equation y + p1 (t)y + p2 (t)y + p3 (t)y = 0. Let y1 , y2 , and y3 be solutions of this equation on an interval I . (a) If W = W (y1 , y2 , y3 ), show that y y2 y3 1 W = y1 y2 y3 . y y2 y3 1 Hint: The derivative of a 3-by-3 determinant is the sum of three 3-by-3 determinants obtained by differentiating the first, second, and third rows, respectively. (b) Substitute for y1 , y2 , and y3 from the differential equation; multiply the first row by p3 , the second row by p2 , and add these to the last row to obtain W = − p1 (t)W. (c) Show that
W (y1 , y2 , y3 )(t) = c exp − p1 (t) dt .
It follows that W is either always zero or nowhere zero on I . (d) Generalize this argument to the nth order equation y (n) + p1 (t)y (n−1) + · · · + pn (t)y = 0 with solutions y1 , . . . , yn . That is, establish Abel’s formula, W (y1 , . . . , yn )(t) = c exp − p1 (t) dt , for this case. In each of Problems 21 through 24 use Abel’s formula (Problem 20) to find the Wronskian of a fundamental set of solutions of the given differential equation. 21. y + 2y − y − 3y = 0 22. y iv + y = 0 23. t y + 2y − y + t y = 0 24. t 2 y iv + t y + y − 4y = 0 25. The purpose of this problem is to show that if W (y1 , . . . , yn )(t0 ) = 0 for some t0 in an interval I , then y1 , . . . , yn are linearly independent on I , and if they are linearly independent and solutions of L[y] = y (n) + p1 (t)y (n−1) + · · · + pn (t)y = 0 on I , then W (y1 , . . . , yn ) is nowhere zero in I .
(i)
214
Chapter 4. Higher Order Linear Equations
(a) Suppose that W (y1 , . . . , yn )(t0 ) = 0, and suppose that c1 y1 (t) + · · · + cn yn (t) = 0
(ii)
for all t in I . By writing the equations corresponding to the first n − 1 derivatives of Eq. (ii) at t0 , show that c1 = · · · = cn = 0. Therefore, y1 , . . . , yn are linearly independent. (b) Suppose that y1 , . . . , yn are linearly independent solutions of Eq. (i). If W (y1 , . . . , yn )(t0 ) = 0 for some t0 , show that there is a nonzero solution of Eq. (i) satisfying the initial conditions y(t0 ) = y (t0 ) = · · · = y (n−1) (t0 ) = 0. Since y = 0 is a solution of this initial value problem, the uniqueness part of Theorem 4.1.1 yields a contradiction. Thus W is never zero. 26. Show that if y1 is a solution of y + p1 (t)y + p2 (t)y + p3 (t)y = 0, then the substitution y = y1 (t)v(t) leads to the following second order equation for v : y1 v + (3y1 + p1 y1 )v + (3y1 + 2 p1 y1 + p2 y1 )v = 0. In each of Problems 27 and 28 use the method of reduction of order (Problem 26) to solve the given differential equation. 27. (2 − t)y + (2t − 3)y − t y + y = 0, t < 2; 28. t 2 (t + 3)y − 3t (t + 2)y + 6(1 + t)y − 6y = 0,
y1 (t) = et t > 0; y1 (t) = t 2 ,
y2 (t) = t 3
4.2 Homogeneous Equations with Constant Coefficients Consider the nth order linear homogeneous differential equation L[y] = a0 y (n) + a1 y (n−1) + · · · + an−1 y + an y = 0,
(1)
where a0 , a1 , . . . , an are real constants. From our knowledge of second order linear equations with constant coefficients it is natural to anticipate that y = er t is a solution of Eq. (1) for suitable values of r . Indeed, L[er t ] = er t (a0 r n + a1 r n−1 + · · · + an−1 r + an ) = er t Z (r )
(2)
for all r , where Z (r ) = a0 r n + a1 r n−1 + · · · + an−1 r + an .
(3)
For those values of r for which Z (r ) = 0, it follows that L[er t ] = 0 and y = er t is a solution of Eq. (1). The polynomial Z (r ) is called the characteristic polynomial, and the equation Z (r ) = 0 is the characteristic equation of the differential equation (1).
215
4.2 Homogeneous Equations with Constant Coefficients
A polynomial of degree n has n zeros,1 say r1 , r2 , . . . , rn , some of which may be equal; hence we can write the characteristic polynomial in the form Z (r ) = a0 (r − r1 )(r − r2 ) · · · (r − rn ).
(4)
Real and Unequal Roots. If the roots of the characteristic equation are real and no two are equal, then we have n distinct solutions er1 t , er2 t , . . . , ern t of Eq. (1). If these functions are linearly independent, then the general solution of Eq. (1) is y = c 1 e r 1 t + c2 e r 2 t + · · · + cn e r n t .
(5)
One way to establish the linear independence of er1 t , er2 t , . . . , ern t is to evaluate their Wronskian determinant. Another way is outlined in Problem 40.
Find the general solution of EXAMPLE
y + y − 7y − y + 6y = 0.
1
(6)
Also find the solution that satisfies the initial conditions y(0) = 1,
y (0) = 0,
y (0) = −2,
y (0) = −1
(7)
and plot its graph. Assuming that y = er t , we must determine r by solving the polynomial equation r 4 + r 3 − 7r 2 − r + 6 = 0.
(8)
The roots of this equation are r1 = 1, r2 = −1, r3 = 2, and r4 = −3. Therefore the general solution of Eq. (6) is y = c1 et + c2 e−t + c3 e2t + c4 e−3t .
(9)
The initial conditions (7) require that c1 , . . . , c4 satisfy the four equations c1 + c2 + c3 + c4 = c1 − c2 + 2c3 − 3c4 =
1, 0,
(10)
c1 + c2 + 4c3 + 9c4 = −2, c1 − c2 + 8c3 − 27c4 = −1. By solving this system of four linear algebraic equations, we find that c1 = 11/8,
c2 = 5/12,
c3 = −2/3,
c4 = −1/8.
Therefore the solution of the initial value problem is y=
11 t e 8
+
5 −t e 12
− 23 e2t − 18 e−3t .
(11)
The graph of the solution is shown in Figure 4.2.1. 1
An important question in mathematics for more than 200 years was whether every polynomial equation has at least one root. The affirmative answer to this question, the fundamental theorem of algebra, was given by Carl Friedrich Gauss in his doctoral dissertation in 1799, although his proof does not meet modern standards of rigor. Several other proofs have been discovered since, including three by Gauss himself. Today, students often meet the fundamental theorem of algebra in a first course on complex variables, where it can be established as a consequence of some of the basic properties of complex analytic functions.
216
Chapter 4. Higher Order Linear Equations y
1
0.5
1
t
–1
FIGURE 4.2.1 Solution of the initial value problem of Example 1.
As Example 1 illustrates, the procedure for solving an nth order linear differential equation with constant coefficients depends on finding the roots of a corresponding nth degree polynomial equation. If initial conditions are prescribed, then a system of n linear algebraic equations must be solved to determine the proper values of the constants c1 , . . . , cn . While each of these tasks becomes much more complicated as n increases, they can often be handled without difficulty with a calculator or computer. For third and fourth degree polynomials there are formulas,2 analogous to the formula for quadratic equations but more complicated, that give exact expressions for the roots. Root-finding algorithms are readily available on calculators and computers. Sometimes they are included in the differential equation solver, so that the process of factoring the characteristic polynomial is hidden and the solution of the differential equation is produced automatically. If you are faced with the need to factor the characteristic polynomial by hand, here is one result that is sometimes helpful. Suppose that the polynomial a0 r n + a1 r n−1 + · · · + an−1 r + an = 0
(12)
has integer coefficients. If r = p/q is a rational root, where p and q have no common factors, then p must be a factor of an and q must be a factor of a0 . For example, in Eq. (8) the factors of a0 are ±1 and the factors of an are ±1, ±2, ±3, and ±6. Thus, the only possible rational roots of this equation are ±1, ±2, ±3, and ±6. By testing these possible roots, we find that 1, −1, 2, and −3 are actual roots. In this case there are no other roots, since the polynomial is of fourth degree. If some of the roots are irrational or complex, as is usually the case, then this process will not find them, but at least the degree of the polynomial can be reduced by dividing out the factors corresponding to the rational roots. If the roots of the characteristic equation are real and different, we have seen that the general solution (5) is simply a sum of exponential functions. For large values of t the 2
The method for solving the cubic equation was apparently discovered by Scipione dal Ferro (1465–1526) about 1500, although it was first published in 1545 by Girolamo Cardano (1501–1576) in his Ars Magna. This book also contains a method for solving quartic equations that Cardano attributes to his pupil Ludovico Ferrari (1522–1565). The question of whether analogous formulas exist for the roots of higher degree equations remained open for more than two centuries, until in 1826 Niels Abel showed that no general solution formulas can exist for polynomial equations of degree five or higher. A more general theory was developed by Evariste Galois (1811–1832) in 1831, but unfortunately it did not become widely known for several decades.
217
4.2 Homogeneous Equations with Constant Coefficients
solution will be dominated by the term corresponding to the algebraically largest root. If this root is positive, then solutions will become exponentially unbounded, while if it is negative, then solutions will tend exponentially to zero. Finally, if the largest root is zero, then solutions will approach a nonzero constant as t becomes large. Of course, for certain initial conditions the coefficient of the otherwise dominant term will be zero; then the nature of the solution for large t is determined by the next largest root. Complex Roots. If the characteristic equation has complex roots, they must occur in conjugate pairs, λ ± iµ, since the coefficients a0 , . . . , an are real numbers. Provided that none of the roots is repeated, the general solution of Eq. (1) is still of the form (4). However, just as for the second order equation (Section 3.4), we can replace the complex-valued solutions e(λ+iµ)t and e(λ−iµ)t by the real-valued solutions eλt cos µt,
eλt sin µt
(13)
obtained as the real and imaginary parts of e(λ+iµ)t . Thus, even though some of the roots of the characteristic equation are complex, it is still possible to express the general solution of Eq. (1) as a linear combination of real-valued solutions.
Find the general solution of EXAMPLE
y iv − y = 0.
2
(14)
Also find the solution that satisfies the initial conditions y (0) = −4,
y(0) = 7/2,
y (0) = 5/2,
y (0) = −2
(15)
and draw its graph. Substituting er t for y, we find that the characteristic equation is r 4 − 1 = (r 2 − 1)(r 2 + 1) = 0. Therefore the roots are r = 1, −1, i, −i, and the general solution of Eq. (14) is y = c1 et + c2 e−t + c3 cos t + c4 sin t. If we impose the initial conditions (15), we find that c1 = 0,
c2 = 3,
c3 = 1/2,
c4 = −1;
thus the solution of the given initial value problem is y = 3e−t + 12 cos t − sin t.
(16)
The graph of this solution is shown in Figure 4.2.2. Observe that the initial conditions (15) cause the coefficient c1 of the exponentially growing term in the general solution to be zero. Therefore this term is absent in the solution (16), which describes an exponential decay to a steady oscillation, as Figure 4.2.2 shows. However, if the initial conditions are changed slightly, then c1 is likely to be nonzero and the nature of the solution changes enormously. For example, if the first three initial conditions remain the same, but the value of y (0) is changed from −2 to −15/8, then the solution of the initial value problem becomes y=
1 t e 32
+
95 −t e 32
+ 12 cos t −
17 16
sin t.
(17)
218
Chapter 4. Higher Order Linear Equations
The coefficients in Eq. (17) differ only slightly from those in Eq. (16), but the exponentially growing term, even with the relatively small coefficient of 1/32, completely dominates the solution by the time t is larger than about 4 or 5. This is clearly seen in Figure 4.2.3, which shows the graphs of the two solutions (16) and (17). y
y
2
8 6
2
4
6
8
10 12
4
14 t
2
–2
2
FIGURE 4.2.2 A plot of the solution (16).
4
6
t
FIGURE 4.2.3 Plots of the solutions (16) (light curve) and (17) (heavy curve).
Repeated Roots. If the roots of the characteristic equation are not distinct, that is, if some of the roots are repeated, then the solution (5) is clearly not the general solution of Eq. (1). Recall that if r1 is a repeated root for the second order linear equation a0 y + a1 y + a2 y = 0, then the two linearly independent solutions are er1 t and ter1 t . For an equation of order n, if a root of Z (r ) = 0, say r = r1 , has multiplicity s (where s ≤ n), then er 1 t ,
ter1 t ,
t 2 er 1 t ,
...,
t s−1 er1 t
(18)
are corresponding solutions of Eq. (1). If a complex root λ + iµ is repeated s times, the complex conjugate λ − iµ is also repeated s times. Corresponding to these 2s complex-valued solutions, we can find 2s real-valued solutions by noting that the real and imaginary parts of e(λ+iµ)t , te(λ+iµ)t , . . . , t s−1 e(λ+iµ)t are also linearly independent solutions: eλt cos µt,
eλt sin µt, teλt cos µt, teλt sin µt, t s−1 eλt sin µt. . . . , t s−1 eλt cos µt,
Hence the general solution of Eq. (1) can always be expressed as a linear combination of n real-valued solutions. Consider the following example.
Find the general solution of EXAMPLE
y iv + 2y + y = 0.
3 The characteristic equation is
r 4 + 2r 2 + 1 = (r 2 + 1)(r 2 + 1) = 0. The roots are r = i, i, −i, −i, and the general solution of Eq. (19) is y = c1 cos t + c2 sin t + c3 t cos t + c4 t sin t.
(19)
4.2 Homogeneous Equations with Constant Coefficients
219
In determining the roots of the characteristic equation it may be necessary to compute the cube roots, or fourth roots, or even higher roots of a (possibly complex) number. This can usually be done most conveniently by using Euler’s formula eit = cos t + i sin t and the algebraic laws given in Section 3.4. This is illustrated in the following example.
Find the general solution of EXAMPLE
y iv + y = 0.
4
(20)
The characteristic equation is r 4 + 1 = 0. To solve the equation we must compute the fourth roots of −1. Now −1, thought of as a complex number, is −1 + 0i. It has magnitude 1 and polar angle π. Thus −1 = cos π + i sin π = eiπ . Moreover, the angle is determined only up to a multiple of 2π. Thus −1 = cos(π + 2mπ) + i sin(π + 2mπ) = ei(π+2mπ) , where m is zero or any positive or negative integer. Thus π π mπ mπ + i sin . + + (−1)1/4 = ei(π/4+mπ/2) = cos 4 2 4 2 The four fourth roots of −1 are obtained by setting m = 0, 1, 2, and 3; they are 1+i −1 + i −1 − i 1−i √ , √ , √ , √ . 2 2 2 2 It is easy to verify that for any other value of m we obtain one of these four roots. √ For example, corresponding to m = 4, we obtain (1 + i)/ 2. The general solution of Eq. (20) is √ √ t t t t t/ 2 −t/ 2 +e (21) c1 cos √ + c2 sin √ c3 cos √ + c4 sin √ . y=e 2 2 2 2
In conclusion, we note that the problem of finding all the roots of a polynomial equation may not be entirely straightforward, even with computer assistance. For instance, it may be difficult to determine whether two roots are equal, or merely very close together. Recall that the form of the general solution is different in these two cases. If the constants a0 , a1 , . . . , an in Eq. (1) are complex numbers, the solution of Eq. (1) is still of the form (4). In this case, however, the roots of the characteristic equation are, in general, complex numbers, and it is no longer true that the complex conjugate of a root is also a root. The corresponding solutions are complex-valued.
PROBLEMS
In each of Problems 1 through 6 express the given complex number in the form R(cos θ + i sin θ ) = Reiθ . √ 3. −3 1. 1 + i 2. −1 √ + 3i 4. −i 5. 3−i 6. −1 − i
220
Chapter 4. Higher Order Linear Equations
In each of Problems 7 through 10 follow the procedure illustrated in Example 4 to determine the indicated roots of the given complex number. 8. (1 − i)1/2 7. 11/3 9. 11/4 10. [2(cos π/3 + i sin π/3)]1/2 In each of Problems 11 through 28 find the general solution of the given differential equation. 12. y − 3y + 3y − y = 0 11. y − y − y + y = 0 13. 2y − 4y − 2y + 4y = 0 14. y iv − 4y + 4y = 0 vi 16. y iv − 5y + 4y = 0 15. y + y = 0 17. y vi − 3y iv + 3y − y = 0 18. y vi − y = 0 19. y v − 3y iv + 3y − 3y + 2y = 0 20. y iv − 8y = 0 viii iv 21. y + 8y + 16y = 0 22. y iv + 2y + y = 0 23. y − 5y + 3y + y = 0 24. y + 5y + 6y + 2y = 0 䉴 25. 18y + 21y + 14y + 4y = 0 䉴 26. y iv − 7y + 6y + 30y − 36y = 0 䉴 27. 12y iv + 31y + 75y + 37y + 5y = 0 䉴 28. y iv + 6y + 17y + 22y + 14y = 0
䉴 䉴 䉴 䉴 䉴 䉴 䉴 䉴
In each of Problems 29 through 36 find the solution of the given initial value problem and plot its graph. How does the solution behave as t → ∞? 29. y + y = 0; y(0) = 0, y (0) = 1, y (0) = 2 iv 30. y + y = 0; y(0) = 0, y (0) = 0, y (0) = −1, y (0) = 0 31. y iv − 4y + 4y = 0; y(1) = −1, y (1) = 2, y (1) = 0, y (1) = 0 32. y − y + y − y = 0; y(0) = 2, y (0) = −1, y (0) = −2 iv 33. 2y − y − 9y + 4y + 4y = 0; y(0) = −2, y (0) = 0, y (0) = −2, y (0) = 0 34. 4y + y + 5y = 0; y(0) = 2, y (0) = 1, y (0) = −1 35. 6y + 5y + y = 0; y(0) = −2, y (0) = 2, y (0) = 0 36. y iv + 6y + 17y + 22y + 14y = 0; y(0) = 1, y (0) = −2, y (0) = 0, y (0) = 3 37. Show that the general solution of y iv − y = 0 can be written as y = c1 cos t + c2 sin t + c3 cosh t + c4 sinh t. Determine the solution satisfying the initial conditions y(0) = 0, y (0) = 0, y (0) = 1, y (0) = 1. Why is it convenient to use the solutions cosh t and sinh t rather than et and e−t ? 38. Consider the equation y iv − y = 0. (a) Use Abel’s formula [Problem 20(d) of Section 4.1] to find the Wronskian of a fundamental set of solutions of the given equation. (b) Determine the Wronskian of the solutions et , e−t , cos t, and sin t. (c) Determine the Wronskian of the solutions cosh t, sinh t, cos t, and sin t. 39. Consider the spring–mass system, shown in Figure 4.2.4, consisting of two unit masses suspended from springs with spring constants 3 and 2, respectively. Assume that there is no damping in the system. (a) Show that the displacements u 1 and u 2 of the masses from their respective equilibrium positions satisfy the equations u 1 + 5u 1 = 2u 2 ,
u 2 + 2u 2 = 2u 1 .
(i)
(b) Solve the first of Eqs. (i) for u 2 and substitute into the second equation, thereby obtaining the following fourth order equation for u 1 : u iv 1 + 7u 1 + 6u 1 = 0.
Find the general solution of Eq. (ii).
(ii)
221
4.2 Homogeneous Equations with Constant Coefficients
k1 = 3
u1
m1 = 1
k2 = 2
u2
m2 = 1
FIGURE 4.2.4 A two degree of freedom spring–mass system.
(c) Suppose that the initial conditions are u 1 (0) = 1,
u 1 (0) = 0,
u 2 (0) = 2,
u 2 (0) = 0.
(iii)
Use the first of Eqs. (i) and the initial conditions (iii) to obtain values for u 1 (0) and u 1 (0). Then show that the solution of Eq. (ii) that satisfies the four initial conditions on u 1 is u 1 (t) = cos t. Show that the corresponding solution u 2 is u 2 (t) = 2 cos t. (d) Now suppose that the initial conditions are u 1 (0) = −2,
u 1 (0) = 0,
u 2 (0) = 1,
u 2 (0) = 0.
(iv) √ Proceed as in part √ (c) to show that the corresponding solutions are u 1 (t) = −2 cos 6 t and u 2 (t) = cos 6 t. (e) Observe that the solutions obtained in parts (c) and (d) describe two distinct modes of vibration. In the first, the frequency of the motion is 1, and the two masses √ move in phase, both moving up or down together. The second motion has frequency 6, and the masses move out of phase with each other, one moving down while the other is moving up and vice versa. For other initial conditions, the motion of the masses is a combination of these two modes. 40. In this problem we outline one way to show that if r1 , . . . , rn are all real and different, then er1 t , . . . , ern t are linearly independent on −∞ < t < ∞. To do this, we consider the linear relation c1 er1 t + · · · + cn ern t = 0,
−∞ < t < ∞
(i)
and show that all the constants are zero. (a) Multiply Eq. (i) by e−r1 t and differentiate with respect to t, thereby obtaining c2 (r2 − r1 )e(r2 −r1)t + · · · + cn (rn − r1)e(rn −r1)t = 0. (b) Multiply the result of part (a) by e−(r2 −r1)t and differentiate with respect to t to obtain c3 (r3 − r2 )(r3 − r1 )e(r3 −r2)t + · · · + cn (rn − r2 )(rn − r1 )e(rn −r2 )t = 0. (c) Continue the procedure from parts (a) and (b), eventually obtaining cn (rn − rn−1 ) · · · (rn − r1 )e(rn −rn−1)t = 0.
222
Chapter 4. Higher Order Linear Equations
Hence cn = 0 and therefore c1 er1 t + · · · + cn−1 ern−1 t = 0. (d) Repeat the preceding argument to show that cn−1 = 0. In a similar way it follows that cn−2 = · · · = c1 = 0. Thus the functions er1 t , . . . , ern t are linearly independent.
4.3 The Method of Undetermined Coefficients A particular solution Y of the nonhomogeneous nth order linear equation with constant coefficients L[y] = a0 y (n) + a1 y (n−1) + · · · + an−1 y + an y = g(t)
(1)
can be obtained by the method of undetermined coefficients, provided that g(t) is of an appropriate form. While the method of undetermined coefficients is not as general as the method of variation of parameters described in the next section, it is usually much easier to use when applicable. Just as for the second order linear equation, when the constant coefficient linear differential operator L is applied to a polynomial A0 t m + A1 t m−1 + · · · + Am , an exponential function eαt , a sine function sin βt, or a cosine function cos βt, the result is a polynomial, an exponential function, or a linear combination of sine and cosine functions, respectively. Hence, if g(t) is a sum of polynomials, exponentials, sines, and cosines, or products of such functions, we can expect that it is possible to find Y (t) by choosing a suitable combination of polynomials, exponentials, and so forth, multiplied by a number of undetermined constants. The constants are then determined so that Eq. (1) is satisfied. The main difference in using this method for higher order equations stems from the fact that roots of the characteristic polynomial equation may have multiplicity greater than 2. Consequently, terms proposed for the nonhomogeneous part of the solution may need to be multiplied by higher powers of t to make them different from terms in the solution of the corresponding homogeneous equation.
Find the general solution of EXAMPLE
1
y − 3y + 3y − y = 4et .
(2)
The characteristic polynomial for the homogeneous equation corresponding to Eq. (2) is r 3 − 3r 2 + 3r − 1 = (r − 1)3 , so the general solution of the homogeneous equation is yc (t) = c1 et + c2 tet + c3 t 2 et .
(3)
To find a particular solution Y (t) of Eq. (2), we start by assuming that Y (t) = Aet . However, since et , tet , and t 2 et are all solutions of the homogeneous equation, we must multiply this initial choice by t 3 . Thus our final assumption is that Y (t) = At 3 et ,
223
4.3 The Method of Undetermined Coefficients
where A is an undetermined coefficient. To find the correct value for A, we differentiate Y (t) three times, substitute for y and its derivatives in Eq. (2), and collect terms in the resulting equation. In this way we obtain 6Aet = 4et . Thus A =
2 3
and the particular solution is Y (t) =
2 3 t t e. 3
(4)
The general solution of Eq. (2) is the sum of yc (t) from Eq. (3) and Y (t) from Eq. (4). Find a particular solution of the equation EXAMPLE
2
y iv + 2y + y = 3 sin t − 5 cos t.
(5)
The general solution of the homogeneous equation was found in Example 3 of Section 4.2, namely, yc (t) = c1 cos t + c2 sin t + c3 t cos t + c4 t sin t,
(6)
corresponding to the roots r = i, i, −i, and −i of the characteristic equation. Our initial assumption for a particular solution is Y (t) = A sin t + B cos t, but we must multiply this choice by t 2 to make it different from all solutions of the homogeneous equation. Thus our final assumption is Y (t) = At 2 sin t + Bt 2 cos t. Next, we differentiate Y (t) four times, substitute into the differential equation (4), and collect terms, obtaining finally −8A sin t − 8B cos t = 3 sin t − 5 cos t. Thus A = − 38 , B = 58 , and the particular solution of Eq. (4) is Y (t) = − 38 t 2 sin t + 58 t 2 cos t.
(7)
If g(t) is a sum of several terms, it is often easier in practice to compute separately the particular solution corresponding to each term in g(t). As for the second order equation, the particular solution of the complete problem is the sum of the particular solutions of the individual component problems. This is illustrated in the following example.
Find a particular solution of EXAMPLE
3
y − 4y = t + 3 cos t + e−2t .
(8)
First we solve the homogeneous equation. The characteristic equation is r 3 − 4r = 0, and the roots are 0, ±2; hence yc (t) = c1 + c2 e2t + c3 e−2t .
224
Chapter 4. Higher Order Linear Equations
We can write a particular solution of Eq. (8) as the sum of particular solutions of the differential equations y − 4y = t,
y − 4y = 3 cos t,
y − 4y = e−2t .
Our initial choice for a particular solution Y1 (t) of the first equation is A0 t + A1 , but since a constant is a solution of the homogeneous equation, we multiply by t. Thus Y1 (t) = t ( A0 t + A1 ). For the second equation we choose Y2 (t) = B cos t + C sin t, and there is no need to modify this initial choice since cos t and sin t are not solutions of the homogeneous equation. Finally, for the third equation, since e−2t is a solution of the homogeneous equation, we assume that Y3 (t) = Ete−2t . The constants are determined by substituting into the individual differential equations; they are A0 = − 18 , A1 = 0, B = 0, C = − 35 , and E = 18 . Hence a particular solution of Eq. (8) is Y (t) = − 18 t 2 − 35 sin t + 18 te−2t .
(9)
The amount of algebra required to calculate the coefficients may be quite substantial for higher order equations, especially if the nonhomogeneous term is even moderately complicated. A computer algebra system can be extremely helpful in executing these algebraic calculations. The method of undetermined coefficients can be used whenever it is possible to guess the correct form for Y (t). However, this is usually impossible for differential equations not having constant coefficients, or for nonhomogeneous terms other than the type described previously. For more complicated problems we can use the method of variation of parameters, which is discussed in the next section.
PROBLEMS
In each of Problems 1 through 8 determine the general solution of the given differential equation. 1. 3. 5. 7.
y − y − y + y = 2e−t + 3 y + y + y + y = e−t + 4t y iv − 4y = t 2 + et y vi + y = t
2. 4. 6. 8.
y iv − y = 3t + cos t y − y = 2 sin t y iv + 2y + y = 3 + cos 2t y iv + y = sin 2t
In each of Problems 9 through 12 find the solution of the given initial value problem. Then plot a graph of the solution. y(0) = y (0) = 0, y (0) = 1 䉴 9. y + 4y = t, iv y(0) = y (0) = 0, y (0) = y (0) = 1 䉴 10. y + 2y + y = 3t + 4, y(0) = 1, y (0) = − 41 , y (0) = − 32 䉴 11. y − 3y + 2y = t + et ,
䉴 12. y iv + 2y + y + 8y − 12y = 12 sin t − e−t , y (0) = −1, y (0) = 2
y(0) = 3,
y (0) = 0,
225
4.3 The Method of Undetermined Coefficients
In each of Problems 13 through 18 determine a suitable form for Y (t) if the method of undetermined coefficients is to be used. Do not evaluate the constants. 13. 15. 17. 18. 19.
14. y − y = te−t + 2 cos t y − 2y + y = t 3 + 2et iv t y − 2y + y = e + sin t 16. y iv + 4y = sin 2t + tet + 4 y iv − y − y + y = t 2 + 4 + t sin t y iv + 2y + 2y = 3et + 2te−t + e−t sin t Consider the nonhomogeneous nth order linear differential equation a0 y (n) + a1 y (n−1) + · · · + an y = g(t), where a0 , . . . , an are constants. Verify that if g(t) is of the form eαt (b0 t m + · · · + bm ), then the substitution y = eαt u(t) reduces the preceding equation to the form k0 u (n) + k1 u (n−1) + · · · + kn u = b0 t m + · · · + bm , where k0 , . . . , kn are constants. Determine k0 and kn in terms of the a’s and α. Thus the problem of determining a particular solution of the original equation is reduced to the simpler problem of determining a particular solution of an equation with constant coefficients and a polynomial for the nonhomogeneous term.
Method of Annihilators. In Problems 20 through 22 we consider another way of arriving at the proper form of Y (t) for use in the method of undetermined coefficients. The procedure is based on the observation that exponential, polynomial, or sinusoidal terms (or sums and products of such terms) can be viewed as solutions of certain linear homogeneous differential equations with constant coefficients. It is convenient to use the symbol D for d/dt. Then, for example, e−t is a solution of (D + 1)y = 0; the differential operator D + 1 is said to annihilate, or to be an annihilator of, e−t . Similarly, D 2 + 4 is an annihilator of sin 2t or cos 2t, (D − 3)2 = D 2 − 6D + 9 is an annihilator of e3t or te3t , and so forth. 20. Show that linear differential operators with constant coefficients obey the commutative law, that is, (D − a)(D − b) f = (D − b)(D − a) f for any twice differentiable function f and any constants a and b. The result extends at once to any finite number of factors. 21. Consider the problem of finding the form of the particular solution Y (t) of (D − 2)3 (D + 1)Y = 3e2t − te−t ,
(i)
where the left side of the equation is written in a form corresponding to the factorization of the characteristic polynomial. (a) Show that D − 2 and (D + 1)2 , respectively, are annihilators of the terms on the right side of Eq. (i), and that the combined operator (D − 2)(D + 1)2 annihilates both terms on the right side of Eq. (i) simultaneously. (b) Apply the operator (D − 2)(D + 1)2 to Eq. (i) and use the result of Problem 20 to obtain (D − 2)4 (D + 1)3 Y = 0.
(ii)
Thus Y is a solution of the homogeneous equation (ii). By solving Eq. (ii), show that Y (t) = c1 e2t + c2 te2t + c3 t 2 e2t + c4 t 3 e2t + c5 e−t + c6 te−t + c7 t 2 e−t , where c1 , . . . , c7 are constants, as yet undetermined.
(iii)
226
Chapter 4. Higher Order Linear Equations
(c) Observe that e2t , te2t , t 2 e2t , and e−t are solutions of the homogeneous equation corresponding to Eq. (i); hence these terms are not useful in solving the nonhomogeneous equation. Therefore, choose c1 , c2 , c3 , and c5 to be zero in Eq. (iii), so that Y (t) = c4 t 3 e2t + c6 te−t + c7 t 2 e−t .
(iv)
This is the form of the particular solution Y of Eq. (i). The values of the coefficients c4 , c6 , and c7 can be found by substituting from Eq. (iv) in the differential equation (i). Summary. Suppose that L(D)y = g(t),
(i)
where L(D) is a linear differential operator with constant coefficients, and g(t) is a sum or product of exponential, polynomial, or sinusoidal terms. To find the form of the particular solution of Eq. (i), you can proceed as follows. (a) Find a differential operator H (D) with constant coefficients that annihilates g(t), that is, an operator such that H (D)g(t) = 0. (b) Apply H (D) to Eq. (i), obtaining H (D)L(D)y = 0,
(ii)
which is a homogeneous equation of higher order. (c) Solve Eq. (ii). (d) Eliminate from the solution found in step (c) the terms that also appear in the solution of L(D)y = 0. The remaining terms constitute the correct form of the particular solution of Eq. (i). 22. Use the method of annihilators to find the form of the particular solution Y (t) for each of the equations in Problems 13 through 18. Do not evaluate the coefficients.
4.4 The Method of Variation of Parameters The method of variation of parameters for determining a particular solution of the nonhomogeneous nth order linear differential equation L[y] = y (n) + p1 (t)y (n−1) + · · · + pn−1 (t)y + pn (t)y = g(t)
(1)
is a direct extension of the method for the second order differential equation (see Section 3.7). As before, to use the method of variation of parameters, it is first necessary to solve the corresponding homogeneous differential equation. In general, this may be difficult unless the coefficients are constants. However, the method of variation of parameters is still more general than the method of undetermined coefficients in that it leads to an expression for the particular solution for any continuous function g, whereas the method of undetermined coefficients is restricted in practice to a limited class of functions g. Suppose then that we know a fundamental set of solutions y1 , y2 , . . . , yn of the homogeneous equation. Then the general solution of the homogeneous equation is yc (t) = c1 y1 (t) + c2 y2 (t) + · · · + cn yn (t).
(2)
227
4.4 The Method of Variation of Parameters
The method of variation of parameters for determining a particular solution of Eq. (1) rests on the possibility of determining n functions u 1 , u 2 , . . . , u n such that Y (t) is of the form Y (t) = u 1 (t)y1 (t) + u 2 (t)y2 (t) + · · · + u n (t)yn (t).
(3)
Since we have n functions to determine, we will have to specify n conditions. One of these is clearly that Y satisfy Eq. (1). The other n − 1 conditions are chosen so as to make the calculations as simple as possible. Since we can hardly expect a simplification in determining Y if we must solve high order differential equations for u 1 , . . . , u n , it is natural to impose conditions to suppress the terms that lead to higher derivatives of u 1 , . . . , u n . From Eq. (3) we obtain Y = (u 1 y1 + u 2 y2 + · · · + u n yn ) + (u 1 y1 + u 2 y2 + · · · + u n yn ),
(4)
where we have omitted the independent variable t on which each function in Eq. (4) depends. Thus the first condition that we impose is that u 1 y1 + u 2 y2 + · · · + u n yn = 0.
(5)
Continuing this process in a similar manner through n − 1 derivatives of Y gives Y (m) = u 1 y1(m) + u 2 y2(m) + · · · + u n yn(m) ,
m = 0, 1, 2, . . . , n − 1,
(6)
and the following n − 1 conditions on the functions u 1 , . . . , u n : u 1 y1(m−1) + u 2 y2(m−1) + · · · + u n yn(m−1) = 0,
m = 1, 2, . . . , n − 1.
(7)
The nth derivative of Y is Y (n) = (u 1 y1(n) + · · · + u n yn(n) ) + (u 1 y1(n−1) + · · · + u n yn(n−1) ).
(8)
Finally, we impose the condition that Y must be a solution of Eq. (1). On substituting for the derivatives of Y from Eqs. (6) and (8), collecting terms, and making use of the fact that L[yi ] = 0, i = 1, 2, . . . , n, we obtain u 1 y1(n−1) + u 2 y2(n−1) + · · · + u n yn(n−1) = g.
(9)
Equation (9), coupled with the n − 1 equations (7), gives n simultaneous linear nonhomogeneous algebraic equations for u 1 , u 2 , . . . , u n : y1 u 1 + y2 u 2 + · · · + yn u n = 0, y1 u 1 + y2 u 2 + · · · + yn u n = 0, y1 u 1 + y2 u 2 + · · · + yn u n = 0, .. . (n−1) (n−1) u 1 + · · · + yn u n = g. y1
(10)
The system (10) is a linear algebraic system for the unknown quantities u 1 , . . . , u n . By solving this system and then integrating the resulting expressions, you can obtain the coefficients u 1 , . . . , u n . A sufficient condition for the existence of a solution of the system of equations (10) is that the determinant of coefficients is nonzero for each value of t. However, the determinant of coefficients is precisely W (y1 , y2 , . . . , yn ), and it is nowhere zero since y1 , . . . , yn are linearly independent solutions of the homogeneous
228
Chapter 4. Higher Order Linear Equations
equation. Hence it is possible to determine u 1 , . . . , u n . Using Cramer’s rule, we find that the solution of the system of equations (10) is u m (t) =
g(t)Wm (t) , W (t)
m = 1, 2, . . . , n.
(11)
Here W (t) = W (y1 ,y2 , . . . , yn )(t) and Wm is the determinant obtained from W by replacing the mth column by the column (0, 0, . . . , 0, 1). With this notation a particular solution of Eq. (1) is given by t n g(s)Wm (s) ym (t) ds, (12) Y (t) = W (s) t0 m=1 where t0 is arbitrary. While the procedure is straightforward, the algebraic computations involved in determining Y (t) from Eq. (12) become more and more complicated as n increases. In some cases the calculations may be simplified to some extent by using Abel’s identity (Problem 20 of Section 4.1), W (t) = W (y1 , . . . , yn )(t) = c exp − p1 (t) dt . The constant c can be determined by evaluating W at some convenient point.
EXAMPLE
1
Given that y1 (t) = et , y2 (t) = tet , and y3 (t) = e−t are solutions of the homogeneous equation corresponding to y − y − y + y = g(t),
(13)
determine a particular solution of Eq. (13) in terms of an integral. We use Eq. (12). First, we have et tet e−t t t t −t t W (t) = W (e , te , e )(t) = e (t + 1)e −e−t t t e (t + 2)e e−t Factoring et from each of the first obtain t W (t) = e
.
two columns and e−t from the third column, we 1 1 1
t t +1 t +2
1 −1 1
.
Then, by subtracting the first row from the second and third rows, we have 1 t 1 W (t) = et 0 1 −2 . 0 2 0 Finally, evaluating the latter determinant by minors associated with the first column, we find that W (t) = 4et .
229
4.4 The Method of Variation of Parameters
Next,
0 W1 (t) = 0 1
tet (t + 1)et (t + 2)et
e−t −e−t e−t
.
Using minors associated with the first column, we obtain e−t tet = −2t − 1. W1 (t) = (t + 1)et −e−t In a similar way
et W2 (t) = et et
and
et W3 (t) = et et
0 0 1 tet (t + 1)et (t + 2)et
e−t −e−t e−t 0 0 1
t = − et e t e = t e
e−t = 2, −e−t tet = e2t . (t + 1)et
Substituting these results in Eq. (12), we have t t t g(s)(−1 − 2s) g(s)(2) g(s)e2s t t −t Y (t) = e ds + te ds + e ds s s 4e 4e 4es t0 t0 t0 1 t t−s = e [−1 + 2(t − s)] + e−(t−s) g(s) ds. 4 t0
PROBLEMS
In each of Problems 1 through 6 use the method of general solution of the given differential equation. 1. y + y = tan t, 0
variation of parameters to determine the y − y = t y + y = sec t, −π/2 < t < π/2 y iv + 2y + y = sin t
In each of Problems 7 and 8 find the general solution of the given differential equation. Leave your answer in terms of one or more integrals. −π/2 < t < π/2 7. y − y + y − y = sec t, 0
䉴 䉴 䉴 䉴
In each of Problems 9 through 12 find the solution of the given initial value problem. Then plot a graph of the solution. 9. y + y = sec t, y(0) = 2, y (0) = 1, y (0) = −2 10. y iv + 2y + y = sin t, y(0) = 2, y (0) = 0, y (0) = −1, y (0) = 1 11. y − y + y − y = sec t, y(0) = 2, y (0) = −1, y (0) = 1 12. y − y = csc t, y(π/2) = 2, y (π/2) = 1, y (π/2) = −1 2 13. Given that x, x , and 1/x are solutions of the homogeneous equation corresponding to x 3 y + x 2 y − 2x y + 2y = 2x 4 , determine a particular solution.
x > 0,
230
Chapter 4. Higher Order Linear Equations
14. Find a formula involving integrals for a particular solution of the differential equation y − y + y − y = g(t). 15. Find a formula involving integrals for a particular solution of the differential equation y iv − y = g(t). Hint: The functions sin t, cos t, sinh t, and cosh t form a fundamental set of solutions of the homogeneous equation. 16. Find a formula involving integrals for a particular solution of the differential equation y − 3y + 3y − y = g(t). If g(t) = t −2 et , determine Y (t). 17. Find a formula involving integrals for a particular solution of the differential equation x 3 y − 3x 2 y + 6x y − 6y = g(x),
x > 0.
Hint: Verify that x, x 2 , and x 3 are solutions of the homogeneous equation.
REFERENCES Coddington, E. A., An Introduction to Ordinary Differential Equations (Englewood Cliffs, NJ: Prentice Hall, 1961; New York: Dover, 1989). Ince, E. L., Ordinary Differential Equations (London: Longmans, Green, 1927; New York: Dover, 1953).
CHAPTER
5
Series Solutions of Second Order Linear Equations Finding the general solution of a linear differential equation rests on determining a fundamental set of solutions of the homogeneous equation. So far, we have given a systematic procedure for constructing fundamental solutions only if the equation has constant coefficients. To deal with the much larger class of equations having variable coefficients it is necessary to extend our search for solutions beyond the familiar elementary functions of calculus. The principal tool that we need is the representation of a given function by a power series. The basic idea is similar to that in the method of undetermined coefficients: We assume that the solutions of a given differential equation have power series expansions, and then we attempt to determine the coefficients so as to satisfy the differential equation.
5.1 Review of Power Series In this chapter we discuss the use of power series to construct fundamental sets of solutions of second order linear differential equations whose coefficients are functions of the independent variable. We begin by summarizing very briefly the pertinent results about power series that we need. Readers who are familiar with power series may go on to Section 5.2. Those who need more details than are presented here should consult a book on calculus.
231
232
Chapter 5. Series Solutions of Second Order Linear Equations
1.
A power series
∞ n=0
an (x − x0 )n is said to converge at a point x if lim
m→∞
2.
m
an (x − x0 )n
n=0
exists for that x. The series certainly converges for x = x0 ; it may converge for all x, or it may converge for some values of x and not for others. ∞ an (x − x0 )n is said to converge absolutely at a point x if the series The series n=0
∞
|an (x − x0 )n | =
n=0
3.
∞
|an ||x − x0 |n
n=0
converges. It can be shown that if the series converges absolutely, then the series also converges; however, the converse is not necessarily true. One of the most useful tests for the absolute convergence of a power series is the ratio test. If an = 0, and if for a fixed value of x a (x − x )n+1 an+1 n+1 0 = L|x − x |, lim = |x − x0 | lim 0 n→∞ a (x − x )n n→∞ a n 0 n then the power series converges absolutely at that value of x if |x − x0 | < 1/L, and diverges if |x − x0 | > 1/L. If |x − x0 | = 1/L, the test is inconclusive. For which values of x does the power series
EXAMPLE
∞
1
(−1)n+1 n(x − 2)n
n=1
converge? To test for convergence we use the ratio test. We have (−1)n+2 (n + 1)(x − 2)n+1 n+1 lim = |x − 2|. = |x − 2| lim n+1 n n→∞ n→∞ n (−1) n(x − 2) According to statement 3 the series converges absolutely for |x − 2| < 1, or 1 < x < 3, and diverges for |x − 2| > 1. The values of x corresponding to |x − 2| = 1 are x = 1 and x = 3. The series diverges for each of these values of x since the nth term of the series does not approach zero as n → ∞.
4.
If the power series
∞ n=0
5.
an (x − x0 )n converges at x = x1 , it converges absolutely
for |x − x0 | < |x1 − x0 |; and if it diverges at x = x1 , it diverges for |x − x0 | > |x1 − x0 |. There is a nonnegative number ρ, called the radius of convergence, such that ∞ an (x − x0 )n converges absolutely for |x − x0 | < ρ and diverges for |x − x0 | > n=0
ρ. For a series that converges only at x0 , we define ρ to be zero; for a series that
233
5.1 Review of Power Series
converges for all x, we say that ρ is infinite. If ρ > 0, then the interval |x − x0 | < ρ is called the interval of convergence; it is indicated by the hatched lines in Figure 5.1.1. The series may either converge or diverge when |x − x0 | = ρ. Series converges absolutely
Series diverges x0 – ρ
Series diverges x0 + ρ
x0
x
Series may converge or diverge
FIGURE 5.1.1 The interval of convergence of a power series.
Determine the radius of convergence of the power series EXAMPLE
∞ (x + 1)n . n2n n=1
2
We apply the ratio test: (x + 1)n+1 |x + 1| n2n |x + 1| n lim lim = . = n n+1 n→∞ (n + 1)2 (x + 1) 2 n→∞ n + 1 2 Thus the series converges absolutely for |x + 1| < 2, or −3 < x < 1, and diverges for |x + 1| > 2. The radius of convergence of the power series is ρ = 2. Finally, we check the endpoints of the interval of convergence. At x = 1 the series becomes the harmonic series ∞ 1 , n n=1 which diverges. At x = −3 we have ∞ (−3 + 1)n n=1
n2n
=
∞ (−1)n n=1
n
,
which converges, but does not converge absolutely. The series is said to converge conditionally at x = −3. To summarize, the given power series converges for −3 ≤ x < 1, and diverges otherwise. It converges absolutely for −3 < x < 1, and has a radius of convergence 2.
If
∞ n=0
6.
an (x − x0 )n and
∞ n=0
bn (x − x0 )n converge to f (x) and g(x), respectively,
for |x − x0 | < ρ, ρ > 0, then the following are true for |x − x0 | < ρ. The series can be added or subtracted termwise and ∞ (an ± bn )(x − x0 )n . f (x) ± g(x) = n=0
234
Chapter 5. Series Solutions of Second Order Linear Equations
7.
The series can be formally multiplied and ∞ ∞ ∞ n n f (x)g(x) = an (x − x0 ) bn (x − x0 ) = cn (x − x0 )n , n=0
n=0
n=0
where cn = a0 bn + a1 bn−1 + · · · + an b0 . Further, if g(x0 ) = 0, the series can be formally divided and ∞ f (x) dn (x − x0 )n . = g(x) n=0
In most cases the coefficients dn can be most easily obtained by equating coefficients in the equivalent relation ∞ ∞ ∞ n n n an (x − x0 ) = dn (x − x0 ) bn (x − x0 ) n=0
n=0
=
8.
∞
n
n=0
k=0
n=0
dk bn−k (x − x0 )n .
Also, in the case of division, the radius of convergence of the resulting power series may be less than ρ. The function f is continuous and has derivatives of all orders for |x − x0 | < ρ. Further, f , f , . . . can be computed by differentiating the series termwise; that is, f (x) = a1 + 2a2 (x − x0 ) + · · · + nan (x − x0 )n−1 + · · · ∞ nan (x − x0 )n−1 , = n=1
f (x) = 2a2 + 6a3 (x − x0 ) + · · · + n(n − 1)an (x − x0 )n−2 + · · · ∞ n(n − 1)an (x − x0 )n−2 , = n=2
9.
and so forth, and each of the series converges absolutely for |x − x0 | < ρ. The value of an is given by an =
f (n) (x0 ) . n!
The series is called the Taylor1 series for the function f about x = x0 . ∞ ∞ 10. If an (x − x0 )n = bn (x − x0 )n for each x, then an = bn for n = 0, 1, n=0
n=0
2, 3, . . . . In particular, if an = · · · = 0. 1
∞
n=0
an (x − x0 )n = 0 for each x, then a0 = a1 = · · · =
Brook Taylor (1685 –1731) was the leading English mathematician in the generation following Newton. In 1715 he published a general statement of the expansion theorem that is named for him, a result that is fundamental in all branches of analysis. He was also one of the founders of the calculus of finite differences, and was the first to recognize the existence of singular solutions of differential equations.
235
5.1 Review of Power Series
A function f that has a Taylor series expansion about x = x0 , f (x) =
∞ f (n) (x0 ) (x − x0 )n , n! n=0
with a radius of convergence ρ > 0, is said to be analytic at x = x0 . According to statements 6 and 7, if f and g are analytic at x0 , then f ± g, f · g, and f /g [provided that g(x0 ) = 0] are analytic at x = x0 . Shift of Index of Summation. The index of summation in an infinite series is a dummy parameter just as the integration variable in a definite integral is a dummy variable. Thus it is immaterial which letter is used for the index of summation. For example, ∞ 2n x n n=0
n!
=
∞ 2jx j j=0
j!
.
Just as we make changes of the variable of integration in a definite integral, we find it convenient to make changes of summation indices in calculating series solutions of differential equations. We illustrate by several examples how to shift the summation index.
Write EXAMPLE
3
∞ n=2
an x n as a series whose first term corresponds to n = 0 rather than n = 2.
Let m = n − 2; then n = m + 2 and n = 2 corresponds to m = 0. Hence ∞
an x n =
n=2
∞
am+2 x m+2 .
(1)
m=0
By writing out the first few terms of each of these series, you can verify that they contain precisely the same terms. Finally, in the series on the right side of Eq. (1), we can replace the dummy index m by n, obtaining ∞ n=2
an x n =
∞
an+2 x n+2 .
(2)
n=0
In effect, we have shifted the index upward by 2, and compensated by starting to count at a level 2 lower than originally. Write the series EXAMPLE
4
∞
(n + 2)(n + 1)an (x − x0 )n−2
(3)
n=2
as a series whose generic term involves (x − x0 )n rather than (x − x0 )n−2 . Again, we shift the index by 2 so that n is replaced by n + 2 and start counting 2 lower. We obtain ∞ (n + 4)(n + 3)an+2 (x − x0 )n . (4) n=0
You can readily verify that the terms in the series (3) and (4) are exactly the same.
236
Chapter 5. Series Solutions of Second Order Linear Equations
Write the expression EXAMPLE
5
x2
∞
(r + n)an x r +n−1
(5)
n=0
as a series whose generic term involves x r +n . First take the x 2 inside the summation, obtaining ∞
(r + n)an x r +n+1 .
(6)
n=0
Next, shift the index down by 1 and start counting 1 higher. Thus ∞
(r + n)an x r +n+1 =
n=0
∞
(r + n − 1)an−1 x r +n .
(7)
n=1
Again, you can easily verify that the two series in Eq. (7) are identical, and that both are exactly the same as the expression (5). Assume that ∞
EXAMPLE
6
nan x n−1 =
n=1
∞
an x n
(8)
n=0
for all x, and determine what this implies about the coefficients an . We want to use statement 10 to equate corresponding coefficients in the two series. In order to do this, we must first rewrite Eq. (8) so that the series display the same power of x in their generic terms. For instance, in the series on the left side of Eq. (8), we can replace n by n + 1 and start counting 1 lower. Thus Eq. (8) becomes ∞
(n + 1)an+1 x n =
n=0
∞
an x n .
(9)
n=0
According to statement 10 we conclude that (n + 1)an+1 = an ,
n = 0, 1, 2, 3, . . .
or an , n = 0, 1, 2, 3, . . . (10) n+1 Hence, choosing successive values of n in Eq. (10), we have a a a a a1 = a0 , a2 = 1 = 0 , a3 = 2 = 0 , 2 2 3 3! and so forth. In general, a n = 1, 2, 3, . . . . (11) an = 0 , n! Thus the relation (8) determines all the following coefficients in terms of a0 . Finally, using the coefficients given by Eq. (11), we obtain an+1 =
∞ n=0
an x n = a0
∞ xn = a0 e x , n! n=0
where we have followed the usual convention that 0! = 1.
237
5.1 Review of Power Series
PROBLEMS
In each of Problems 1 through 8 determine the radius of convergence of the given power series. 1.
∞
(x − 3)n
2.
n=0
∞ n n nx n=0 2
∞ x 2n n=0 n!
4.
5.
∞ (2x + 1)n n2 n=1
6.
∞ (x − x )n 0 n n=1
7.
∞ (−1)n n 2 (x + 2)n 3n n=1
8.
∞ n!x n n n=1 n
3.
∞
2n x n
n=0
In each of Problems 9 through 16 determine the Taylor series about the point x0 for the given function. Also determine the radius of convergence of the series. 9. sin x,
10. e x ,
x0 = 1
11. x,
1 , 1−x
x0 = 0
12. x , x0 = −1 1 14. , x0 = 0 1+x 2
x0 = 1
13. ln x, 15.
x0 = 0
x0 = 0 ∞
17. Given that y =
16.
1 , 1−x
x0 = 2
nx n , compute y and y and write out the first four terms of each series
n=0
as well as the coefficient of x n in the general term. ∞
18. Given that y =
n=0
an x n , compute y and y and write out the first four terms of each
series as well as the coefficient of x n in the general term. Show that if y = y, then the coefficients a0 and a1 are arbitrary, and determine a2 and a3 in terms of a0 and a1 . Show that an+2 = an /(n + 2)(n + 1), n = 0, 1, 2, 3, . . . . In each of Problems 19 and 20 verify the given equation. 19.
∞
an (x − 1)n+1 =
n=0
20.
∞ k=0
ak+1 x k +
∞ k=0
∞ n=1
an−1 (x − 1)n
ak x k+1 = a1 +
∞ k=1
(ak+1 + ak−1 )x k
In each of Problems 21 through 27 rewrite the given expression as a sum whose generic term involves x n . ∞ ∞ 21. n(n − 1)an x n−2 22. an x n+2 n=2
23. x
n=0
∞ n=1
25.
∞ m=2
27. x
nan x n−1 +
∞ k=0
m(m − 1)am x m−2 + x
∞ n=2
24. (1 − x 2 )
ak x k
n(n − 1)an x n−2 +
∞ n=2
∞ k=1
∞ n=0
kak x k−1
an x n
26.
∞ n=1
n(n − 1)an x n−2
nan x n−1 + x
∞ n=0
an x n
238
Chapter 5. Series Solutions of Second Order Linear Equations
28. Determine the an so that the equation ∞ n=1
nan x n−1 + 2
∞
an x n = 0
n=0
is satisfied. Try to identify the function represented by the series
∞ n=0
an x n .
5.2 Series Solutions near an Ordinary Point, Part I ODE
In Chapter 3 we described methods of solving second order linear differential equations with constant coefficients. We now consider methods of solving second order linear equations when the coefficients are functions of the independent variable. In this chapter we will denote the independent variable by x. It is sufficient to consider the homogeneous equation dy d2 y + Q(x) + R(x)y = 0, (1) 2 dx dx since the procedure for the corresponding nonhomogeneous equation is similar. A wide class of problems in mathematical physics leads to equations of the form (1) having polynomial coefficients; for example, the Bessel equation P(x)
x 2 y + x y + (x 2 − ν 2 )y = 0, where ν is a constant, and the Legendre equation (1 − x 2 )y − 2x y + α(α + 1)y = 0, where α is a constant. For this reason, as well as to simplify the algebraic computations, we primarily consider the case in which the functions P, Q, and R are polynomials. However, as we will see, the method of solution is also applicable when P, Q, and R are general analytic functions. For the present, then, suppose that P, Q, and R are polynomials, and that they have no common factors. Suppose also that we wish to solve Eq. (1) in the neighborhood of a point x0 . The solution of Eq. (1) in an interval containing x0 is closely associated with the behavior of P in that interval. A point x0 such that P(x0 ) = 0 is called an ordinary point. Since P is continuous, it follows that there is an interval about x0 in which P(x) is never zero. In that interval we can divide Eq. (1) by P(x) to obtain y + p(x)y + q(x)y = 0,
(2)
where p(x) = Q(x)/P(x) and q(x) = R(x)/P(x) are continuous functions. Hence, according to the existence and uniqueness Theorem 3.2.1, there exists in that interval a unique solution of Eq. (1) that also satisfies the initial conditions y(x0 ) = y0 , y (x0 ) = y0 for arbitrary values of y0 and y0 . In this and the following section we discuss the solution of Eq. (1) in the neighborhood of an ordinary point. On the other hand, if P(x0 ) = 0, then x0 is called a singular point of Eq. (1). In this case at least one of Q(x0 ) and R(x0 ) is not zero. Consequently, at least one of the
239
5.2 Series Solutions near an Ordinary Point, Part I
coefficients p and q in Eq. (2) becomes unbounded as x → x0 , and therefore Theorem 3.2.1 does not apply in this case. Sections 5.4 through 5.8 deal with finding solutions of Eq. (1) in the neighborhood of a singular point. We now take up the problem of solving Eq. (1) in the neighborhood of an ordinary point x0 . We look for solutions of the form y = a0 + a1 (x − x0 ) + · · · + an (x − x0 ) + · · · = n
∞
an (x − x0 )n ,
(3)
n=0
and assume that the series converges in the interval |x − x0 | < ρ for some ρ > 0. While at first sight it may appear unattractive to seek a solution in the form of a power series, this is actually a convenient and useful form for a solution. Within their intervals of convergence power series behave very much like polynomials and are easy to manipulate both analytically and numerically. Indeed, even if we can obtain a solution in terms of elementary functions, such as exponential or trigonometric functions, we are likely to need a power series or some equivalent expression if we want to evaluate them numerically or to plot their graphs. The most practical way to determine the coefficients an is to substitute the series (3) and its derivatives for y, y , and y in Eq. (1). The following examples illustrate this process. The operations, such as differentiation, that are involved in the procedure are justified so long as we stay within the interval of convergence. The differential equations in these examples are also of considerable importance in their own right.
Find a series solution of the equation EXAMPLE
y + y = 0,
1
−∞ < x < ∞.
(4)
As we know, two linearly independent solutions of this equation are sin x and cos x, so series methods are not needed to solve this equation. However, this example illustrates the use of power series in a relatively simple case. For Eq. (4), P(x) = 1, Q(x) = 0, and R(x) = 1; hence every point is an ordinary point. We look for a solution in the form of a power series about x0 = 0, y = a0 + a1 x + a2 x 2 + · · · + an x n + · · · =
∞
an x n ,
(5)
n=0
and assume that the series converges in some interval |x| < ρ. Differentiating term by term yields y = a1 + 2a2 x + · · · + nan x n−1 + · · · =
∞
nan x n−1 ,
(6)
n(n − 1)an x n−2 .
(7)
n=1
y = 2a2 + · · · + n(n − 1)an x
n−2
+ ··· =
∞ n=2
Substituting the series (5) and (7) for y and y in Eq. (4) gives ∞ n=2
n(n − 1)an x n−2 +
∞ n=0
an x n = 0.
240
Chapter 5. Series Solutions of Second Order Linear Equations
To combine the two series we need to rewrite at least one of them so that both series display the same generic term. Thus, in the first sum, we shift the index of summation by replacing n by n + 2 and starting the sum at 0 rather than 2. We obtain ∞
(n + 2)(n + 1)an+2 x n +
n=0
∞
an x n = 0
n=0
or ∞
[(n + 2)(n + 1)an+2 + an ]x n = 0.
n=0
For this equation to be satisfied for all x, the coefficient of each power of x must be zero; hence, we conclude that (n + 2)(n + 1)an+2 + an = 0,
n = 0, 1, 2, 3, . . . .
(8)
Equation (8) is referred to as a recurrence relation. The successive coefficients can be evaluated one by one by writing the recurrence relation first for n = 0, then for n = 1, and so forth. In this example Eq. (8) relates each coefficient to the second one before it. Thus the even-numbered coefficients (a0 , a2 , a4 , . . .) and the odd-numbered ones (a1 , a3 , a5 , . . .) are determined separately. For the even-numbered coefficients we have a a a a a a a4 = − 2 = + 0 , a6 = − 4 = − 0 , . . . . a2 = − 0 = − 0 , 2·1 2! 4·3 4! 6·5 6! These results suggest that in general, if n = 2k, then an = a2k =
(−1)k a , (2k)! 0
k = 1, 2, 3, . . . .
(9)
We can prove Eq. (9) by mathematical induction. First observe that it is true for k = 1. Next, assume that it is true for an arbitrary value of k and consider the case k + 1. We have a2k+2 = −
a2k (−1)k (−1)k+1 =− a0 = a . (2k + 2)(2k + 1) (2k + 2)(2k + 1)(2k)! (2k + 2)! 0
Hence Eq. (9) is also true for k + 1 and consequently it is true for all positive integers k. Similarly, for the odd-numbered coefficients a a a a a a a3 = − 1 = − 1 , a5 = − 3 = + 1 , a7 = − 5 = − 1 , . . . , 2·3 3! 5·4 5! 7·6 7! and in general, if n = 2k + 1, then2 an = a2k+1 =
(−1)k a , (2k + 1)! 1
k = 1, 2, 3, . . . .
(10)
Substituting these coefficients into Eq. (5), we have a a a a y = a0 + a1 x − 0 x 2 − 1 x 3 + 0 x 4 + 1 x 5 + 2! 3! 4! 5! 2
The result given in Eq. (10) and other similar formulas in this chapter can be proved by an induction argument resembling the one just given for Eq. (9). We assume that the results are plausible and omit the inductive argument hereafter.
241
5.2 Series Solutions near an Ordinary Point, Part I
(−1)n a0 2n (−1)n a1 2n+1 + ··· x + x (2n)! (2n + 1)! x2 x4 (−1)n 2n = a0 1 − + + ··· + x + ··· 2! 4! (2n)! x5 (−1)n 2n+1 x3 + + ··· + x + a1 x − + ··· 3! 5! (2n + 1)! +··· +
= a0
∞ (−1)n n=0
(2n)!
x 2n + a1
∞ (−1)n 2n+1 x . (2n + 1)! n=0
(11)
Now that we have formally obtained two series solutions of Eq. (4), we can test them for convergence. Using the ratio test, it is easy to show that each of the series in Eq. (11) converges for all x, and this justifies retroactively all the steps used in obtaining the solutions. Indeed, we recognize that the first series in Eq. (11) is exactly the Taylor series for cos x about x = 0 and the second is the Taylor series for sin x about x = 0. Thus, as expected, we obtain the solution y = a0 cos x + a1 sin x. Notice that no conditions are imposed on a0 and a1 ; hence they are arbitrary. From Eqs. (5) and (6) we see that y and y evaluated at x = 0 are a0 and a1 , respectively. Since the initial conditions y(0) and y (0) can be chosen arbitrarily, it follows that a0 and a1 should be arbitrary until specific initial conditions are stated. Figures 5.2.1 and 5.2.2 show how the partial sums of the series in Eq. (11) approximate cos x and sin x. As the number of terms increases, the interval over which the approximation is satisfactory becomes longer, and for each x in this interval the accuracy of the approximation improves. However, you should always remember that a truncated power series provides only a local approximation of the solution in a neighborhood of the initial point x = 0; it cannot adequately represent the solution for large |x|.
y 2
n = 4 n = 8 n = 12
n = 16
n = 20
1
2
4
–1
6
8
10
x
y = cos x
–2 n=2
n=6
n = 10 n = 14 n = 18
FIGURE 5.2.1 Polynomial approximations to cos x. The value of n is the degree of the approximating polynomial.
242
Chapter 5. Series Solutions of Second Order Linear Equations y
n=5
n = 9 n = 13 n = 17
n = 21
2
1
2
4
6
8
–1
10
x
y = sin x
–2 n=3
n=7
n = 11 n = 15 n = 19
FIGURE 5.2.2 Polynomial approximations to sin x. The value of n is the degree of the approximating polynomial.
In Example 1 we knew from the start that sin x and cos x form a fundamental set of solutions of Eq. (4). However, if we had not known this and had simply solved Eq. (4) using series methods, we would still have obtained the solution (11). In recognition of the fact that the differential equation (4) often occurs in applications we might decide to give the two solutions of Eq. (11) special names; perhaps, C(x) =
∞ (−1)n n=0
(2n)!
x 2n ,
S(x) =
∞ (−1)n 2n+1 . x (2n + 1)! n=0
Then we might ask what properties these functions have. For instance, it follows at once from the series expansions that C(0) = 1, S(0) = 0, C(−x) = C(x), and S(−x) = −S(x). It is also easy to show that S (x) = C(x),
C (x) = −S(x).
Moreover, by calculating with the infinite series3 we can show that the functions C(x) and S(x) have all the usual analytical and algebraic properties of the cosine and sine functions, respectively. Although you probably first saw the sine and cosine functions defined in a more elementary manner in terms of right triangles, it is interesting that these functions can be defined as solutions of a certain simple second order linear differential equation. To be precise, the function sin x can be defined as the unique solution of the initial value problem y + y = 0, y(0) = 0, y (0) = 1; similarly, cos x can be defined as the unique solution of the initial value problem y + y = 0, y(0) = 1, y (0) = 0. Many other functions that are important in mathematical physics are also defined as solutions of certain initial value problems. For most of these functions there is no simpler or more elementary way to approach them. 3
Such an analysis is given in Section 24 of K. Knopp, Theory and Applications of Infinite Series (New York: Hafner, 1951).
243
5.2 Series Solutions near an Ordinary Point, Part I
Find a series solution in powers of x of Airy’s4 equation EXAMPLE
2
y − x y = 0,
−∞ < x < ∞.
(12)
For this equation P(x) = 1, Q(x) = 0, and R(x) = −x; hence every point is an ordinary point. We assume that ∞ an x n , (13) y= n=0
and that the series converges in some interval |x| < ρ. The series for y is given by Eq. (7); as explained in the preceding example, we can rewrite it as ∞ (n + 2)(n + 1)an+2 x n . (14) y = n=0
Substituting the series (13) and (14) for y and y in Eq. (12), we obtain ∞ ∞ ∞ (n + 2)(n + 1)an+2 x n = x an x n = an x n+1 . n=0
n=0
(15)
n=0
Next, we shift the index of summation in the series on the right side of this equation by replacing n by n − 1 and starting the summation at 1 rather than zero. Thus we have ∞ ∞ (n + 2)(n + 1)an+2 x n = an−1 x n . 2 · 1a2 + n=1
n=1
Again, for this equation to be satisfied for all x it is necessary that the coefficients of like powers of x be equal; hence a2 = 0, and we obtain the recurrence relation (n + 2)(n + 1)an+2 = an−1
for
n = 1, 2, 3, . . . .
(16)
Since an+2 is given in terms of an−1 , the a’s are determined in steps of three. Thus a0 determines a3 , which in turn determines a6 , . . . ; a1 determines a4 , which in turn determines a7 , . . . ; and a2 determines a5 , which in turn determines a8 , . . . . Since a2 = 0, we immediately conclude that a5 = a8 = a11 = · · · = 0. For the sequence a0 , a3 , a6 , a9 , . . . we set n = 1, 4, 7, 10, . . . in the recurrence relation: a a a a0 a0 a3 = 0 , a6 = 3 = , a9 = 6 = ,.... 2·3 5·6 2·3·5·6 8·9 2·3·5·6·8·9 For this sequence of coefficients it is convenient to write a formula for a3n , n = 1, 2, 3, . . . . The preceding results suggest the general formula a0 a3n = , n = 1, 2, . . . . 2 · 3 · 5 · 6 · · · (3n − 4)(3n − 3)(3n − 1)(3n) For the sequence a1 , a4 , a7 , a10 , . . . , we set n = 2, 5, 8, 11, . . . in the recurrence relation: a7 a1 a1 a a , a10 = = ,.... a4 = 1 , a7 = 4 = 3·4 6·7 3·4·6·7 9 · 10 3 · 4 · 6 · 7 · 9 · 10 4
Sir George Airy (1801–1892), an English astronomer and mathematician, was director of the Greenwich Observatory from 1835 to 1881. One reason Airy’s equation is of interest is that for x negative the solutions are oscillatory, similar to trigonometric functions, and for x positive they are monotonic, similar to hyperbolic functions. Can you explain why it is reasonable to expect such behavior?
244
Chapter 5. Series Solutions of Second Order Linear Equations
In the same way as before we find that a1 a3n+1 = , 3 · 4 · 6 · 7 · · · (3n − 3)(3n − 2)(3n)(3n + 1)
n = 1, 2, 3, . . . .
The general solution of Airy’s equation is x3 x6 x 3n y = a0 1 + + + ··· + + ··· 2·3 2·3·5·6 2 · 3 · · · (3n − 1)(3n) x4 x7 x 3n+1 + a1 x + + + ··· + + ··· 3·4 3·4·6·7 3 · 4 · · · (3n)(3n + 1) ∞ ∞ x 3n x 3n+1 + a1 x + . = a0 1 + 2 · 3 · · · (3n − 1)(3n) 3 · 4 · · · (3n)(3n + 1) n=1 n=1 (17) Having obtained these two series solutions, we can now investigate their convergence. Because of the rapid growth of the denominators of the terms in the series (17), we might expect these series to have a large radius of convergence. Indeed, it is easy to use the ratio test to show that both these series converge for all x; see Problem 20. Assuming for the moment that the series do converge for all x, let y1 and y2 denote the functions defined by the expressions in the first and second sets of brackets, respectively, in Eq. (17). Then, by first choosing a0 = 1, a1 = 0 and then a0 = 0, a1 = 1, it follows that y1 and y2 are individually solutions of Eq. (12). Notice that y1 satisfies the initial conditions y1 (0) = 1, y1 (0) = 0 and that y2 satisfies the initial conditions y2 (0) = 0, y2 (0) = 1. Thus W (y1 , y2 )(0) = 1 = 0, and consequently y1 and y2 are linearly independent. Hence the general solution of Airy’s equation is y = a0 y1 (x) + a1 y2 (x),
−∞ < x < ∞.
In Figures 5.2.3 and 5.2.4, respectively, we show the graphs of the solutions y1 and y2 of Airy’s equation, as well as graphs of several partial sums of the two series in Eq. (17). Again, the partial sums provide local approximations to the solutions in a neighborhood of the origin. While the quality of the approximation improves as the number of terms increases, no polynomial can adequately represent y1 and y2 for large |x|. A practical way to estimate the interval in which a given partial sum is reasonably accurate is to compare the graphs of that partial sum and the next one, obtained by including one more term. As soon as the graphs begin to separate noticeably, one can be confident that the original partial sum is no longer accurate. For example, in Figure 5.2.3 the graphs for n = 24 and n = 27 begin to separate at about x = −9/2. Thus, beyond this point, the partial sum of degree 24 is worthless as an approximation to the solution. Observe that both y1 and y2 are monotone for x > 0 and oscillatory for x < 0. One can also see from the figures that the oscillations are not uniform, but decay in amplitude and increase in frequency as the distance from the origin increases. In contrast to Example 1, the solutions y1 and y2 of Airy’s equation are not elementary functions that you have already encountered in calculus. However, because of their importance in some physical applications, these functions have been extensively studied and their properties are well known to applied mathematicians and scientists.
245
5.2 Series Solutions near an Ordinary Point, Part I y 2 n = 48
36 42
24
12
30
n≥6
18
n=3
6
y = y1(x)
–10
–8
–6
39 n = 45
–4
27 33
2
–2
x
15 21
9
3
–2
FIGURE 5.2.3 Polynomial approximations to the solution y1 (x) of Airy’s equation. The value of n is the degree of the approximating polynomial. y n≥4 n = 46
34 40
28
2
10
22 16
4
y = y2(x)
–10
–8
–6
n = 49
37 43
25 31
–2
–4
2
x
13 19
7
–2
FIGURE 5.2.4 Polynomial approximations to the solution y2 (x) of Airy’s equation. The value of n is the degree of the approximating polynomial.
EXAMPLE
3
Find a solution of Airy’s equation in powers of x − 1. The point x = 1 is an ordinary point of Eq. (12), and thus we look for a solution of the form ∞ an (x − 1)n , y= n=0
where we assume that the series converges in some interval |x − 1| < ρ. Then y =
∞ n=1
nan (x − 1)n−1 =
∞ n=0
(n + 1)an+1 (x − 1)n ,
246
Chapter 5. Series Solutions of Second Order Linear Equations
and y =
∞
n(n − 1)an (x − 1)n−2 =
n=2
∞
(n + 2)(n + 1)an+2 (x − 1)n .
n=0
Substituting for y and y in Eq. (12), we obtain ∞ ∞ (n + 2)(n + 1)an+2 (x − 1)n = x an (x − 1)n . n=0
(18)
n=0
Now to equate the coefficients of like powers of (x − 1) we must express x, the coefficient of y in Eq. (12), in powers of x − 1; that is, we write x = 1 + (x − 1). Note that this is precisely the Taylor series for x about x = 1. Then Eq. (18) takes the form ∞ ∞ (n + 2)(n + 1)an+2 (x − 1)n = [1 + (x − 1)] an (x − 1)n n=0
n=0
=
∞
an (x − 1)n +
n=0
∞
an (x − 1)n+1 .
n=0
Shifting the index of summation in the second series on the right gives ∞ ∞ ∞ (n + 2)(n + 1)an+2 (x − 1)n = an (x − 1)n + an−1 (x − 1)n . n=0
n=0
n=1
Equating coefficients of like powers of x − 1, we obtain 2a2 (3 · 2)a3 (4 · 3)a4 (5 · 4)a5
= a0 , = a1 + a0 , = a2 + a1 , = a3 + a2 , .. .
The general recurrence relation is (n + 2)(n + 1)an+2 = an + an−1
for
n ≥ 1.
(19)
Solving for the first few coefficients an in terms of a0 and a1 , we find that a a a a a a a a a a a a2 = 0 , a3 = 1 + 0 , a4 = 2 + 1 = 0 + 1 , a5 = 3 + 2 = 0 + 1 . 2 6 6 12 12 24 12 20 20 30 120 Hence (x − 1)2 (x − 1)3 (x − 1)4 (x − 1)5 + + + + ··· y = a0 1 + 2 6 24 30 (x − 1)3 (x − 1)4 (x − 1)5 + + + ··· . (20) + a1 (x − 1) + 6 12 120 In general, when the recurrence relation has more than two terms, as in Eq. (19), the determination of a formula for an in terms a0 and a1 will be fairly complicated, if not impossible. In this example such a formula is not readily apparent. Lacking such a formula, we cannot test the two series in Eq. (20) for convergence by direct methods
247
5.2 Series Solutions near an Ordinary Point, Part I
such as the ratio test. However, even without knowing the formula for an we shall see in Section 5.3 that it is possible to establish that the series in Eq. (20) converge for all x, and further define functions y3 and y4 that are linearly independent solutions of the Airy equation (12). Thus y = a0 y3 (x) + a1 y4 (x) is the general solution of Airy’s equation for −∞ < x < ∞.
It is worth emphasizing, as we saw in Example 3, that if we look for a solution of ∞ an (x − x0 )n , then the coefficients P(x), Q(x), and R(x) Eq. (1) of the form y = n=0
in Eq. (1) must also be expressed in powers of x − x0 . Alternatively, we can make the change of variable x − x0 = t, obtaining a new differential equation for y as a function ∞ of t, and then look for solutions of this new equation of the form an t n . When we n=0
have finished the calculations, we replace t by x − x0 (see Problem 19). In Examples 2 and 3 we have found two sets of solutions of Airy’s equation. The functions y1 and y2 defined by the series in Eq. (17) are linearly independent solutions of Eq. (12) for all x, and this is also true for the functions y3 and y4 defined by the series in Eq. (20). According to the general theory of second order linear equations each of the first two functions can be expressed as a linear combination of the latter two functions and vice versa—a result that is certainly not obvious from an examination of the series alone. Finally, we emphasize that it is not particularly important if, as in Example 3, we are unable to determine the general coefficient an in terms of a0 and a1 . What is essential is that we can determine as many coefficients as we want. Thus we can find as many terms in the two series solutions as we want, even if we cannot determine the general term. While the task of calculating several coefficients in a power series solution is not difficult, it can be tedious. A symbolic manipulation package can be very helpful here; some are able to find a specified number of terms in a power series solution in response to a single command. With a suitable graphics package one can also produce plots such as those shown in the figures in this section.
PROBLEMS
In each of Problems 1 through 14 solve the given differential equation by means of a power series about the given point x0 . Find the recurrence relation; also find the first four terms in each of two linearly independent solutions (unless the series terminates sooner). If possible, find the general term in each solution. 1. 3. 5. 7. 9. 11. 13.
y − y = 0, x0 = 0 y − x y − y = 0, x0 = 1 (1 − x)y + y = 0, x0 = 0 y + x y + 2y = 0, x0 = 0 (1 + x 2 )y − 4x y + 6y = 0, x0 = 0 (3 − x 2 )y − 3x y − y = 0, x0 = 0 2y + x y + 3y = 0, x0 = 0
2. 4. 6. 8. 10. 12. 14.
y − x y − y = 0, x0 = 0 y + k 2 x 2 y = 0, x0 = 0, k a constant (2 + x 2 )y − x y + 4y = 0, x0 = 0 x y + y + x y = 0, x0 = 1 (4 − x 2 )y + 2y = 0, x0 = 0 (1 − x)y + x y − y = 0, x0 = 0 2y + (x + 1)y + 3y = 0, x0 = 2
248
Chapter 5. Series Solutions of Second Order Linear Equations
䉴 䉴 䉴 䉴
In each of Problems 15 through 18: (a) Find the first five nonzero terms in the solution of the given initial value problem. (b) Plot the four-term and the five-term approximations to the solution on the same axes. (c) From the plot in part (b) estimate the interval in which the four-term approximation is reasonably accurate. 15. y − x y − y = 0, y(0) = 2, y (0) = 1; see Problem 2 2 16. (2 + x )y − x y + 4y = 0, y(0) = −1, y (0) = 3; see Problem 6 17. y + x y + 2y = 0, y(0) = 4, y (0) = −1; see Problem 7 18. (1 − x)y + x y − y = 0, y(0) = −3, y (0) = 2; see Problem 12 19. By making the change of variable x − 1 = t and assuming that y is a power series in t, find two linearly independent series solutions of y + (x − 1)2 y + (x 2 − 1)y = 0 in powers of x − 1. Show that you obtain the same result directly by assuming that y is a Taylor series in powers of x − 1 and also expressing the coefficient x 2 − 1 in powers of x − 1. 20. Show directly, using the ratio test, that the two series solutions of Airy’s equation about x = 0 converge for all x; see Eq. (17) of the text. 21. The Hermite Equation. The equation y − 2x y + λy = 0,
−∞ < x < ∞,
where λ is a constant, is known as the Hermite5 equation. It is an important equation in mathematical physics. (a) Find the first four terms in each of two linearly independent solutions about x = 0. (b) Observe that if λ is a nonnegative even integer, then one or the other of the series solutions terminates and becomes a polynomial. Find the polynomial solutions for λ = 0, 2, 4, 6, 8, and 10. Note that each polynomial is determined only up to a multiplicative constant. (c) The Hermite polynomial Hn (x) is defined as the polynomial solution of the Hermite equation with λ = 2n for which the coefficient of x n is 2n . Find H0 (x), . . . , H5 (x). 22. Consider the initial value problem y = 1 − y 2 , y(0) = 0. (a) Show that y = sin x is the solution of this initial value problem. (b) Look for a solution of the initial value problem in the form of a power series about x = 0. Find the coefficients up to the term in x 3 in this series. In each of Problems 23 through 28 plot several partial sums in a series solution of the given initial value problem about x = 0, thereby obtaining graphs analogous to those in Figures 5.2.1 through 5.2.4.
䉴 䉴 䉴 䉴 䉴 䉴
23. 24. 25. 26. 27. 28.
5
y − x y − y = 0, y(0) = 1, y (0) = 0; see Problem 2 2 (2 + x )y − x y + 4y = 0, y(0) = 1, y (0) = 0; see Problem 6 y + x y + 2y = 0, y(0) = 0, y (0) = 1; see Problem 7 (4 − x 2 )y + 2y = 0, y(0) = 0, y (0) = 1; see Problem 10 2 y + x y = 0, y(0) = 1, y (0) = 0; see Problem 4 (1 − x)y + x y − 2y = 0, y(0) = 0, y (0) = 1
Charles Hermite (1822–1901) was an influential French analyst and algebraist. He introduced the Hermite functions in 1864, and showed in 1873 that e is a transcendental number (that is, e is not a root of any polynomial equation with rational coefficients). His name is also associated with Hermitian matrices (see Section 7.3), some of whose properties he discovered.
249
5.3 Series Solutions near an Ordinary Point, Part II
5.3 Series Solutions near an Ordinary Point, Part II In the preceding section we considered the problem of finding solutions of P(x)y + Q(x)y + R(x)y = 0,
ODE
(1)
where P, Q, and R are polynomials, in the neighborhood of an ordinary point x0 . Assuming that Eq. (1) does have a solution y = φ(x), and that φ has a Taylor series y = φ(x) =
∞
an (x − x0 )n ,
(2)
n=0
which converges for |x − x0 | < ρ, where ρ > 0, we found that the an can be determined by directly substituting the series (2) for y in Eq. (1). Let us now consider how we might justify the statement that if x0 is an ordinary point of Eq. (1), then there exist solutions of the form (2). We also consider the question of the radius of convergence of such a series. In doing this we are led to a generalization of the definition of an ordinary point. Suppose, then, that there is a solution of Eq. (1) of the form (2). By differentiating Eq. (2) m times and setting x equal to x0 it follows that m!am = φ (m) (x0 ). Hence, to compute an in the series (2), we must show that we can determine φ (n) (x0 ) for n = 0, 1, 2, . . . from the differential equation (1). Suppose that y = φ(x) is a solution of Eq. (1) satisfying the initial conditions y(x0 ) = y0 , y (x0 ) = y0 . Then a0 = y0 and a1 = y0 . If we are solely interested in finding a solution of Eq. (1) without specifying any initial conditions, then a0 and a1 remain arbitrary. To determine φ (n) (x0 ) and the corresponding an for n = 2, 3, . . . , we turn to Eq. (1). Since φ is a solution of Eq. (1), we have P(x)φ (x) + Q(x)φ (x) + R(x)φ(x) = 0. For the interval about x0 for which P is nonvanishing we can write this equation in the form φ (x) = − p(x)φ (x) − q(x)φ(x),
(3)
where p(x) = Q(x)/P(x) and q(x) = R(x)/P(x). Setting x equal to x0 in Eq. (3) gives φ (x0 ) = − p(x0 )φ (x0 ) − q(x0 )φ(x0 ). Hence a2 is given by 2!a2 = φ (x0 ) = − p(x0 )a1 − q(x0 )a0 .
(4)
To determine a3 we differentiate Eq. (3) and then set x equal to x0 , obtaining 3!a3 = φ (x0 ) = −[ pφ + ( p + q)φ + q φ] x=x0
= −2! p(x0 )a2 − [ p (x0 ) + q(x0 )]a1 − q (x0 )a0 .
(5)
Substituting for a2 from Eq. (4) gives a3 in terms of a1 and a0 . Since P, Q, and R are polynomials and P(x0 ) = 0, all of the derivatives of p and q exist at x0 . Hence, we can
250
Chapter 5. Series Solutions of Second Order Linear Equations
continue to differentiate Eq. (3) indefinitely, determining after each differentiation the successive coefficients a4 , a5 , . . . by setting x equal to x0 . Notice that the important property that we used in determining the an was that we could compute infinitely many derivatives of the functions p and q. It might seem reasonable to relax our assumption that the functions p and q are ratios of polynomials, and simply require that they be infinitely differentiable in the neighborhood of x0 . Unfortunately, this condition is too weak to ensure that we can prove the convergence of the resulting series expansion for y = φ(x). What is needed is to assume that the functions p and q are analytic at x0 ; that is, they have Taylor series expansions that converge to them in some interval about the point x0 : p(x) = p0 + p1 (x − x0 ) + · · · + pn (x − x0 )n + · · · = q(x) = q0 + q1 (x − x0 ) + · · · + qn (x − x0 )n + · · · =
∞
n=0 ∞
pn (x − x0 )n ,
qn (x − x0 )n .
(6) (7)
n=0
With this idea in mind we can generalize the definitions of an ordinary point and a singular point of Eq. (1) as follows: If the functions p = Q/P and q = R/P are analytic at x0 , then the point x0 is said to be an ordinary point of the differential equation (1); otherwise, it is a singular point. Now let us turn to the question of the interval of convergence of the series solution. One possibility is actually to compute the series solution for each problem and then to apply one of the tests for convergence of an infinite series to determine its radius of convergence. However, the question can be answered at once for a wide class of problems by the following theorem.
Theorem 5.3.1
If x0 is an ordinary point of the differential equation (1), P(x)y + Q(x)y + R(x)y = 0, that is, if p = Q/P and q = R/P are analytic at x0 , then the general solution of Eq. (1) is y=
∞
an (x − x0 )n = a0 y1 (x) + a1 y2 (x),
(8)
n=0
where a0 and a1 are arbitrary, and y1 and y2 are linearly independent series solutions that are analytic at x0 . Further, the radius of convergence for each of the series solutions y1 and y2 is at least as large as the minimum of the radii of convergence of the series for p and q. Notice from the form of the series solution that y1 (x) = 1 + b2 (x − x0 )2 + · · · and y2 (x) = (x − x0 ) + c2 (x − x0 )2 + · · · . Hence y1 is the solution satisfying the initial conditions y1 (x0 ) = 1, y1 (x0 ) = 0, and y2 is the solution satisfying the initial conditions y2 (x0 ) = 0, y2 (x0 ) = 1. Also note that while the calculation of the coefficients by successively differentiating the differential equation is excellent in theory, it is usually not a practical computational procedure. Rather, one should substitute the series (2) for
251
5.3 Series Solutions near an Ordinary Point, Part II
y in the differential equation (1) and determine the coefficients so that the differential equation is satisfied, as in the examples in the preceding section. We will not prove this theorem, which in a slightly more general form is due to Fuchs.6 What is important for our purposes is that there is a series solution of the form (2), and that the radius of convergence of the series solution cannot be less than the smaller of the radii of convergence of the series for p and q; hence we need only determine these. This can be done in one of two ways. Again, one possibility is simply to compute the power series for p and q, and then to determine the radii of convergence by using one of the convergence tests for infinite series. However, there is an easier way when P, Q, and R are polynomials. It is shown in the theory of functions of a complex variable that the ratio of two polynomials, say Q/P, has a convergent power series expansion about a point x = x0 if P(x0 ) = 0. Further, if we assume that any factors common to Q and P have been canceled, then the radius of convergence of the power series for Q/P about the point x0 is precisely the distance from x0 to the nearest zero of P. In determining this distance we must remember that P(x) = 0 may have complex roots, and these must also be considered.
EXAMPLE
What is the radius of convergence of the Taylor series for (1 + x 2 )−1 about x = 0? One way to proceed is to find the Taylor series in question, namely,
1
1 = 1 − x 2 + x 4 − x 6 + · · · + (−1)n x 2n + · · · . 1 + x2 Then it can be verified by the ratio test that ρ = 1. Another approach is to note that the zeros of 1 + x 2 are x = ±i. Since the distance from 0 to i or to −i in the complex plane is 1, the radius of convergence of the power series about x = 0 is 1.
EXAMPLE
2
What is the radius of convergence of the Taylor series for (x 2 − 2x + 2)−1 about x = 0? About x = 1? First notice that x 2 − 2x + 2 = 0 has solutions x = 1 ± √ i. The distance from x = 0 to either x = 1 + i or x = 1 − i in the complex plane is 2; hence the radius of convergence of the Taylor series expansion ∞ √ an x n about x = 0 is 2. n=0
The distance from x = 1 to either x = 1 + i or x = 1 − i is 1; hence the radius of ∞ bn (x − 1)n about x = 1 is 1. convergence of the Taylor series expansion n=0
6
Immanuel Lazarus Fuchs (1833–1902) was a student and later a professor at the University of Berlin. He proved the result of Theorem 5.3.1 in 1866. His most important research was on singular points of linear differential equations. He recognized the significance of regular singular points (Section 5.4), and equations whose only singularities, including the point at infinity, are regular singular points are known as Fuchsian equations.
252
Chapter 5. Series Solutions of Second Order Linear Equations
According to Theorem 5.3.1 the series solutions of the Airy equation in Examples 2 and 3 of the preceding section converge for all values of x and x − 1, respectively, since in each problem P(x) = 1 and hence is never zero. A series solution may converge for a wider range of x than indicated by Theorem 5.3.1, so the theorem actually gives only a lower bound on the radius of convergence of the series solution. This is illustrated by the Legendre polynomial solution of the Legendre equation given in the next example.
EXAMPLE
Determine a lower bound for the radius of convergence of series solutions about x = 0 for the Legendre equation
3
(1 − x 2 )y − 2x y + α(α + 1)y = 0, where α is a constant. Note that P(x) = 1 − x 2 , Q(x) = −2x, and R(x) = α(α + 1) are polynomials, and that the zeros of P, namely, x = ±1, are a distance 1 from x = 0. Hence a series ∞ an x n converges for |x| < 1 at least, and possibly for larger solution of the form n=0
values of x. Indeed, it can be shown that if α is a positive integer, one of the series solutions terminates after a finite number of terms and hence converges not just for |x| < 1 but for all x. For example, if α = 1, the polynomial solution is y = x. See Problems 22 through 29 at the end of this section for a more complete discussion of the Legendre equation.
EXAMPLE
Determine a lower bound for the radius of convergence of series solutions of the differential equation
4
(1 + x 2 )y + 2x y + 4x 2 y = 0
(9)
− 12 .
about the point x = 0; about the point x = Again P, Q, and R are polynomials, and P has zeros at x = ±i. The distance in the √ 1 complex plane from 0 to ±i is 1, and from − 2 to ±i is 1 + 14 = 5/2. Hence in the ∞ an x n converges at least for |x| < 1, and in the second case the first case the series series
∞ n=0
n=0
bn (x +
1 n ) 2
converges at least for |x + 12 | <
√
5/2.
An interesting observation that we can make about Eq. (9) follows from Theorems 3.2.1 and 5.3.1. Suppose that initial conditions y(0) = y0 and y (0) = y0 are given. Since 1 + x 2 = 0 for all x, we know from Theorem 3.2.1 that there exists a unique solution of the initial value problem on −∞ < x < ∞. On the other hand, Theorem ∞ an x n (with a0 = y0 , a1 = y0 ) 5.3.1 only guarantees a series solution of the form n=0
for −1 < x < 1. The unique solution on the interval −∞ < x < ∞ may not have a power series about x = 0 that converges for all x. Can we determine a series solution about x = 0 for the differential equation EXAMPLE
5
y + (sin x)y + (1 + x 2 )y = 0, and if so, what is the radius of convergence?
253
5.3 Series Solutions near an Ordinary Point, Part II
For this differential equation, p(x) = sin x and q(x) = 1 + x 2 . Recall from calculus that sin x has a Taylor series expansion about x = 0 that converges for all x. Further, q also has a Taylor series expansion about x = 0, namely, q(x) = 1 + x 2 , that converges ∞ for all x. Thus there is a series solution of the form y = an x n with a0 and a1 n=0
arbitrary, and the series converges for all x.
PROBLEMS
In each of Problems 1 through 4 determine φ (x0 ), φ (x0 ), and φ iv (x0 ) for the given point x0 if y = φ(x) is a solution of the given initial value problem. 1. 2. 3. 4.
y(0) = 1, y (0) = 0 y + x y + y = 0; y + (sin x)y + (cos x)y = 0; y(0) = 0, y (0) = 1 2 x y + (1 + x)y + 3(ln x)y = 0; y(1) = 2, y (1) = 0 y(0) = a0 , y (0) = a1 y + x 2 y + (sin x)y = 0;
In each of Problems 5 through 8 determine a lower bound for the radius of convergence of series solutions about each given point x0 for the given differential equation. y + 4y + 6x y = 0; x0 = 0, x0 = 4 (x 2 − 2x − 3)y + x y + 4y = 0; x0 = 4, x0 = −4, x0 = 0 x0 = 0, x0 = 2 (1 + x 3 )y + 4x y + y = 0; x0 = 1 x y + y = 0; Determine a lower bound for the radius of convergence of series solutions about the given x0 for each of the differential equations in Problems 1 through 14 of Section 5.2. 10. The Chebyshev Equation. The Chebyshev7 differential equation is 5. 6. 7. 8. 9.
(1 − x 2 )y − x y + α 2 y = 0, where α is a constant. (a) Determine two linearly independent solutions in powers of x for |x| < 1. (b) Show that if α is a nonnegative integer n, then there is a polynomial solution of degree n. These polynomials, when properly normalized, are called the Chebyshev polynomials. They are very useful in problems requiring a polynomial approximation to a function defined on −1 ≤ x ≤ 1. (c) Find a polynomial solution for each of the cases α = n = 0, 1, 2, and 3. For each of the differential equations in Problems 11 through 14 find the first four nonzero terms in each of two linearly independent power series solutions about the origin. What do you expect the radius of convergence to be for each solution? 12. e x y + x y = 0 11. y + (sin x)y = 0 13. (cos x)y + x y − 2y = 0 14. e−x y + ln(1 + x)y − x y = 0 15. Suppose that you are told that x and x 2 are solutions of a differential equation P(x)y + Q(x)y + R(x)y = 0. Can you say whether the point x = 0 is an ordinary point or a singular point? Hint: Use Theorem 3.2.1, and note the values of x and x 2 at x = 0.
7
Pafnuty L. Chebyshev (1821–1894), professor at Petersburg University for 35 years and the most influential nineteenth century Russian mathematician, founded the so-called “Petersburg school,” which produced a long line of distinguished mathematicians. His study of Chebyshev polynomials began about 1854 as part of an investigation of the approximation of functions by polynomials. Chebyshev is also known for his work in number theory and probability.
254
Chapter 5. Series Solutions of Second Order Linear Equations
First Order Equations. The series methods discussed in this section are directly applicable to the first order linear differential equation P(x)y + Q(x)y = 0 at a point x0 , if the function p = Q/P has a Taylor series expansion about that point. Such a point is called an ordinary ∞ point, and further, the radius of convergence of the series y = an (x − x0 )n is at least as large n=0
as the radius of convergence of the series for Q/P. In each of Problems 16 through 21 solve the given differential equation by a series in powers of x and verify that a0 is arbitrary in each case. Problems 20 and 21 involve nonhomogeneous differential equations to which series methods can be easily extended. Where possible, compare the series solution with the solution obtained by using the methods of Chapter 2. 0 16. y − y = 2 18. y = e x y, 20. y − y = x 2
three terms only
The Legendre Equation.
17. y − x y = 0 19. (1 − x)y = y 21. y + x y = 1 + x
Problems 22 through 29 deal with the Legendre8 equation (1 − x 2 )y − 2x y + α(α + 1)y = 0.
As indicated in Example 3, the point x = 0 is an ordinary point of this equation, and the distance from the origin to the nearest zero of P(x) = 1 − x 2 is 1. Hence the radius of convergence of series solutions about x = 0 is at least 1. Also notice that it is necessary to consider only α > −1 because if α ≤ −1, then the substitution α = −(1 + γ ) where γ ≥ 0 leads to the Legendre equation (1 − x 2 )y − 2x y + γ (γ + 1)y = 0. 22. Show that two linearly independent solutions of the Legendre equation for |x| < 1 are y1 (x) = 1 +
∞
(−1)m
m=1
α(α − 2)(α − 4) · · · (α − 2m + 2)(α + 1)(α + 3) · · · (α + 2m − 1) 2m × x , (2m)! ∞ (−1)m y2 (x) = x + m=1
(α − 1)(α − 3) · · · (α − 2m + 1)(α + 2)(α + 4) · · · (α + 2m) 2m+1 × . x (2m + 1)! 23. Show that, if α is zero or a positive even integer 2n, the series solution y1 reduces to a polynomial of degree 2n containing only even powers of x. Find the polynomials corresponding to α = 0, 2, and 4. Show that, if α is a positive odd integer 2n + 1, the series solution y2 reduces to a polynomial of degree 2n + 1 containing only odd powers of x. Find the polynomials corresponding to α = 1, 3, and 5. 䉴 24. The Legendre polynomial Pn (x) is defined as the polynomial solution of the Legendre equation with α = n that also satisfies the condition Pn (1) = 1. (a) Using the results of Problem 23, find the Legendre polynomials P0 (x), . . . , P5 (x). (b) Plot the graphs of P0 (x), . . . , P5 (x) for −1 ≤ x ≤ 1. (c) Find the zeros of P0 (x), . . . , P5 (x). 25. It can be shown that the general formula for Pn (x) is Pn (x) =
[n/2] 1 (−1)k (2n − 2k)! n−2k , x n 2 k=0 k!(n − k)!(n − 2k)!
8 Adrien-Marie Legendre (1752–1833) held various positions in the French Acade´mie des Sciences from 1783 onward. His primary work was in the fields of elliptic functions and number theory. The Legendre functions, solutions of Legendre’s equation, first appeared in 1784 in his study of the attraction of spheroids.
255
5.4 Regular Singular Points
where [n/2] denotes the greatest integer less than or equal to n/2. By observing the form of Pn (x) for n even and n odd, show that Pn (−1) = (−1)n . 26. The Legendre polynomials play an important role in mathematical physics. For example, in solving Laplace’s equation (the potential equation) in spherical coordinates we encounter the equation d F(ϕ) d 2 F(ϕ) + cot ϕ + n(n + 1)F(ϕ) = 0, 2 dϕ dϕ
0 < ϕ < π,
where n is a positive integer. Show that the change of variable x = cos ϕ leads to the Legendre equation with α = n for y = f (x) = F(arccos x). 27. Show that for n = 0, 1, 2, 3 the corresponding Legendre polynomial is given by Pn (x) =
1 dn 2 (x − 1)n . 2n n! d x n
This formula, known as Rodrigues’ (1794 –1851) formula, is true for all positive integers n. 28. Show that the Legendre equation can also be written as [(1 − x 2 )y ] = −α(α + 1)y. Then it follows that [(1 − x 2 )Pn (x)] = −n(n + 1)Pn (x) and [(1 − x 2 )Pm (x)] = −m(m + 1)Pm (x). By multiplying the first equation by Pm (x) and the second equation by Pn (x), and then integrating by parts, show that
1
−1
Pn (x)Pm (x) d x = 0
if
n = m.
This property of the Legendre polynomials is known as the orthogonality property. If m = n, it can be shown that the value of the preceding integral is 2/(2n + 1). 29. Given a polynomial f of degree n, it is possible to express f as a linear combination of P0 , P1 , P2 , . . . , Pn : f (x) =
n
ak Pk (x).
k=0
Using the result of Problem 28, show that ak =
2k + 1 2
1
−1
f (x)Pk (x) d x.
5.4 Regular Singular Points In this section we will consider the equation
ODE
P(x)y + Q(x)y + R(x)y = 0
(1)
in the neighborhood of a singular point x0 . Recall that if the functions P, Q, and R are polynomials having no common factors, the singular points of Eq. (1) are the points for which P(x) = 0.
256
Chapter 5. Series Solutions of Second Order Linear Equations
Determine the singular points and ordinary points of the Bessel equation of order ν EXAMPLE
1
x 2 y + x y + (x 2 − ν 2 )y = 0.
(2)
The point x = 0 is a singular point since P(x) = x is zero there. All other points are ordinary points of Eq. (2). 2
Determine the singular points and ordinary points of the Legendre equation EXAMPLE
2
(1 − x 2 )y − 2x y + α(α + 1)y = 0,
(3)
where α is a constant. The singular points are the zeros of P(x) = 1 − x 2 , namely, the points x = ±1. All other points are ordinary points. Unfortunately, if we attempt to use the methods of the preceding two sections to solve Eq. (1) in the neighborhood of a singular point x0 , we find that these methods fail. This is because the solution of Eq. (1) is often not analytic at x0 , and consequently cannot be represented by a Taylor series in powers of x − x0 . Instead, we must use a more general series expansion. Since the singular points of a differential equation are usually few in number, we might ask whether we can simply ignore them, especially since we already know how to construct solutions about ordinary points. However, this is not feasible because the singular points determine the principal features of the solution to a much larger extent than one might at first suspect. In the neighborhood of a singular point the solution often becomes large in magnitude or experiences rapid changes in magnitude. Thus the behavior of a physical system modeled by a differential equation frequently is most interesting in the neighborhood of a singular point. Often geometrical singularities in a physical problem, such as corners or sharp edges, lead to singular points in the corresponding differential equation. Thus, while at first we might want to avoid the few points where a differential equation is singular, it is precisely at these points that it is necessary to study the solution most carefully. As an alternative to analytical methods, one can consider the use of numerical methods, which are discussed in Chapter 8. However, these methods are ill-suited for the study of solutions near a singular point. Thus, even if one adopts a numerical approach, it is advantageous to combine it with the analytical methods of this chapter in order to examine the behavior of solutions near singular points. Without any additional information about the behavior of Q/P and R/P in the neighborhood of the singular point, it is impossible to describe the behavior of the solutions of Eq. (1) near x = x0 . It may be that there are two linearly independent solutions of Eq. (1) that remain bounded as x → x0 , or there may be only one with the other becoming unbounded as x → x0 , or they may both become unbounded as x → x0 . To illustrate these possibilities consider the following examples. The differential equation
EXAMPLE
3
x 2 y − 2y = 0
(4)
has a singular point at x = 0. It can be easily verified by direct substitution that y1 (x) = x 2 and y2 (x) = 1/x are linearly independent solutions of Eq. (4) for x > 0 or
257
5.4 Regular Singular Points
x < 0. Thus in any interval not containing the origin the general solution of Eq. (4) is y = c1 x 2 + c2 x −1 . The only solution of Eq. (4) that is bounded as x → 0 is y = c1 x 2 . Indeed, this solution is analytic at the origin even though if Eq. (4) is put in the standard form, y − (2/x 2 )y = 0, the function q(x) = −2/x 2 is not analytic at x = 0, and Theorem 5.3.1 is not applicable. On the other hand, notice that the solution y2 (x) = x −1 does not have a Taylor series expansion about the origin (is not analytic at x = 0); therefore, the method of Section 5.2 would fail in this case. The differential equation EXAMPLE
4
x 2 y − 2x y + 2y = 0
(5)
also has a singular point at x = 0. It can be verified that y1 (x) = x and y2 (x) = x are linearly independent solutions of Eq. (5), and both are analytic at x = 0. Nevertheless, it is still not proper to pose an initial value problem with initial conditions at x = 0. It is impossible to satisfy arbitrary initial conditions at x = 0, since any linear combination of x and x 2 is zero at x = 0. 2
It is also possible to construct a differential equation with a singular point x0 such that every (nonzero) solution of the differential equation becomes unbounded as x → x0 . Even if Eq. (1) does not have a solution that remains bounded as x → x0 , it is often important to determine how the solutions of Eq. (1) behave as x → x0 ; for example, does y → ∞ in the same manner as (x − x0 )−1 or |x − x0 |−1/2 , or in some other manner? Our goal is to extend the method already developed for solving Eq. (1) near an ordinary point so that it also applies to the neighborhood of a singular point x0 . To do this in a reasonably simple manner, it is necessary to restrict ourselves to cases in which the singularities in the functions Q/P and R/P at x = x0 are not too severe, that is, to what we might call “weak singularities.” At this point it is not clear exactly what is an acceptable singularity. However, as we develop the method of solution you will see that the appropriate conditions (see also Section 5.7, Problem 21) to distinguish “weak singularities” are lim (x − x0 )
x→x0
Q(x) P(x)
is finite
(6)
and lim (x − x0 )2
x→x0
R(x) P(x)
is finite.
(7)
This means that the singularity in Q/P can be no worse than (x − x0 )−1 and the singularity in R/P can be no worse than (x − x0 )−2 . Such a point is called a regular singular point of Eq. (1). For more general functions than polynomials, x0 is a regular singular point of Eq. (1) if it is a singular point, and if both9 (x − x0 )
Q(x) P(x)
and
(x − x0 )2
R(x) P(x)
(8)
9 The functions given in Eq. (8) may not be defined at x0 , in which case their values at x0 are to be assigned as their limits as x → x0 .
258
Chapter 5. Series Solutions of Second Order Linear Equations
have convergent Taylor series about x0 , that is, if the functions in Eq. (8) are analytic at x = x0 . Equations (6) and (7) imply that this will be the case when P, Q, and R are polynomials. Any singular point of Eq. (1) that is not a regular singular point is called an irregular singular point of Eq. (1). In the following sections we discuss how to solve Eq. (1) in the neighborhood of a regular singular point. A discussion of the solutions of differential equations in the neighborhood of irregular singular points is more complicated and may be found in more advanced books.
In Example 2 we observed that the singular points of the Legendre equation EXAMPLE
(1 − x 2 )y − 2x y + α(α + 1)y = 0
5
are x = ±1. Determine whether these singular points are regular or irregular singular points. We consider the point x = 1 first and also observe that on dividing by 1 − x 2 the coefficients of y and y are −2x/(1 − x 2 ) and α(α + 1)/(1 − x 2 ), respectively. Thus we calculate lim (x − 1)
x→1
−2x (x − 1)(−2x) 2x = lim = lim =1 2 x→1 x→1 (1 − x)(1 + x) 1 +x 1−x
and lim (x − 1)2
x→1
α(α + 1) (x − 1)2 α(α + 1) = lim x→1 (1 − x)(1 + x) 1 − x2 (x − 1)(−α)(α + 1) = 0. = lim x→1 1+x
Since these limits are finite, the point x = 1 is a regular singular point. It can be shown in a similar manner that x = −1 is also a regular singular point.
Determine the singular points of the differential equation EXAMPLE
6
2x(x − 2)2 y + 3x y + (x − 2)y = 0 and classify them as regular or irregular. Dividing the differential equation by 2x(x − 2)2 , we have y +
3 1 y + y = 0, 2 2x(x − 2) 2(x − 2)
so p(x) = Q(x)/P(x) = 3/2(x − 2)2 and q(x) = R(x)/P(x) = 1/2x(x − 2). The singular points are x = 0 and x = 2. Consider x = 0. We have 3 = 0, 2(x − 2)2 1 = 0. lim x 2 q(x) = lim x 2 x→0 x→0 2x(x − 2) lim x p(x) = lim x
x→0
x→0
259
5.4 Regular Singular Points
Since these limits are finite, x = 0 is a regular singular point. For x = 2 we have 3 3 = lim , 2 x→2 x→2 x→2 2(x − 2) 2(x − 2) so the limit does not exist; hence x = 2 is an irregular singular point. lim (x − 2) p(x) = lim (x − 2)
EXAMPLE
7
Determine the singular points of π 2 x− y + (cos x)y + (sin x)y = 0 2 and classify them as regular or irregular. The only singular point is x = π/2. To study it we consider the functions π π Q(x) cos x x− p(x) = x − = 2 2 P(x) x − π/2 and
π 2 R(x) π 2 q(x) = x − = sin x. 2 2 P(x) Starting from the Taylor series for cos x about x = π/2, we find that
x−
(x − π/2)2 (x − π/2)4 cos x = −1 + − + ···, x − π/2 3! 5! which converges for all x. Similarly, sin x is analytic at x = π/2. Therefore, we conclude that π/2 is a regular singular point for this equation.
PROBLEMS
In each of Problems 1 through 18 find all singular points of the given equation and determine whether each one is regular or irregular. 1. 3. 5. 6. 7. 8. 9. 10. 11. 13. 15. 17.
2. x 2 (1 − x)2 y + 2x y + 4y = 0 x y + (1 − x)y + x y = 0 2 4. x 2 (1 − x 2 )y + (2/x)y + 4y = 0 x (1 − x)y + (x − 2)y − 3x y = 0 2 2 (1 − x ) y + x(1 − x)y + (1 + x)y = 0 x 2 y + x y + (x 2 − ν 2 )y = 0, Bessel equation (x + 3)y − 2x y + (1 − x 2 )y = 0 x(1 − x 2 )3 y + (1 − x 2 )2 y + 2(1 + x)y = 0 (x + 2)2 (x − 1)y + 3(x − 1)y − 2(x + 2)y = 0 x(3 − x)y + (x + 1)y − 2y = 0 (x 2 + x − 2)y + (x + 1)y + 2y = 0 12. x y + e x y + (3 cos x)y = 0 y + (ln |x|)y + 3x y = 0 14. x 2 y + 2(e x − 1)y + (e−x cos x)y = 0 16. x y + y + (cot x)y = 0 x 2 y − 3(sin x)y + (1 + x 2 )y = 0 (sin x)y + x y + 4y = 0 18. (x sin x)y + 3y + x y = 0
In each of Problems 19 and 20 show that the point x = 0 is a regular singular point. In each ∞ an x n . Show that there is only one nonzero solution problem try to find solutions of the form n=0
of this form in Problem 19 and that there are no nonzero solutions of this form in Problem 20. Thus in neither case can the general solution be found in this manner. This is typical of equations with singular points. 19. 2x y + 3y + x y = 0
20. 2x 2 y + 3x y − (1 + x)y = 0
260
Chapter 5. Series Solutions of Second Order Linear Equations
21. Singularities at Infinity. The definitions of an ordinary point and a regular singular point given in the preceding sections apply only if the point x0 is finite. In more advanced work in differential equations it is often necessary to discuss the point at infinity. This is done by making the change of variable ξ = 1/x and studying the resulting equation at ξ = 0. Show that for the differential equation P(x)y + Q(x)y + R(x)y = 0 the point at infinity is an ordinary point if
1 R(1/ξ ) 2P(1/ξ ) Q(1/ξ ) and − 2 4 P(1/ξ ) ξ ξ ξ P(1/ξ ) have Taylor series expansions about ξ = 0. Show also that the point at infinity is a regular singular point if at least one of the above functions does not have a Taylor series expansion, but both
ξ R(1/ξ ) 2P(1/ξ ) Q(1/ξ ) and − 2 2 P(1/ξ ) ξ ξ ξ P(1/ξ ) do have such expansions. In each of Problems 22 through 27 use the results of Problem 21 to determine whether the point at infinity is an ordinary point, a regular singular point, or an irregular singular point of the given differential equation. 22. 24. 25. 26. 27.
y + y = 0 23. x 2 y + x y − 4y = 0 2 (1 − x )y − 2x y + α(α + 1)y = 0, Legendre equation x 2 y + x y + (x 2 − ν 2 )y = 0, Bessel equation y − 2x y + λy = 0, Hermite equation y − x y = 0, Airy equation
5.5 Euler Equations The simplest example of a differential equation having a regular singular point is the Euler equation, or the equidimensional equation, L[y] = x 2 y + αx y + βy = 0,
(1)
where α and β are real constants. It is easy to show that x = 0 is a regular singular point of Eq. (1). Because the solution of the Euler equation is typical of the solutions of all differential equations with a regular singular point, it is worthwhile considering this equation in detail before discussing the more general problem. In any interval not including the origin, Eq. (1) has a general solution of the form y = c1 y1 (x) + c2 y2 (x), where y1 and y2 are linearly independent. For convenience we first consider the interval x > 0, extending our results later to the interval x < 0. First, we note that (x r ) = r x r −1 and (x r ) = r (r − 1)x r −2 . Hence, if we assume that Eq. (1) has a solution of the form y = xr ,
(2)
L[x r ] = x 2 (x r ) + αx(x r ) + βx r = x r [r (r − 1) + αr + β].
(3)
then we obtain
261
5.5 Euler Equations
If r is a root of the quadratic equation F(r ) = r (r − 1) + αr + β = 0,
(4)
then L[x r ] is zero, and y = x r is a solution of Eq. (1). The roots of Eq. (4) are −(α − 1) ± (α − 1)2 − 4β r1 , r2 = , (5) 2 and F(r ) = (r − r1 )(r − r2 ). As for second order linear equations with constant coefficients, it is necessary to consider separately the cases in which the roots are real and different, real but equal, and complex conjugates. Indeed, the entire discussion in this section is similar to the treatment of second order linear equations with constant coefficients in Chapter 3 with er x replaced by x r ; see also Problem 23. Real, Distinct Roots. If F(r ) = 0 has real roots r1 and r2 , with r1 = r2 , then y1 (x) = x r1 and y2 (x) = x r2 are solutions of Eq. (1). Since W (x r1 , x r2 ) = (r2 − r1 )x r1 +r2 −1 is nonvanishing for r1 = r2 and x > 0, it follows that the general solution of Eq. (1) is y = c 1 x r 1 + c2 x r 2 ,
x > 0.
(6)
Note that if r is not a rational number, then x r is defined by x r = er ln x .
Solve EXAMPLE
1
2x 2 y + 3x y − y = 0,
x > 0.
(7)
Substituting y = x r in Eq. (7) gives x r [2r (r − 1) + 3r − 1] = x r (2r 2 + r − 1) = x r (2r − 1)(r + 1) = 0. Hence r1 =
1 2
and r2 = −1, so the general solution of Eq. (7) is y = c1 x 1/2 + c2 x −1 ,
x > 0.
(8)
Equal Roots. If the roots r1 and r2 are equal, then we obtain only one solution y1 (x) = x r1 of the assumed form. A second solution can be obtained by the method of reduction of order, but for the purpose of our future discussion we consider an alternative method. Since r1 = r2 , it follows that F(r ) = (r − r1 )2 . Thus in this case not only does F(r1 ) = 0 but also F (r1 ) = 0. This suggests differentiating Eq. (3) with respect to r and then setting r equal to r1 . Differentiating Eq. (3) with respect to r gives ∂ r ∂ L[x r ] = [x F(r )]. ∂r ∂r Substituting for F(r ), interchanging differentiation with respect to x and with respect to r , and noting that ∂(x r )/∂r = x r ln x, we obtain L[x r ln x] = (r − r1 )2 x r ln x + 2(r − r1 )x r .
(9)
The right side of Eq. (9) is zero for r = r1 ; consequently, y2 (x) = x r1 ln x,
x >0
(10)
262
Chapter 5. Series Solutions of Second Order Linear Equations
is a second solution of Eq. (1). It is easy to show that W (x r1 , x r1 ln x) = x 2r1 −1 . Hence x r1 and x r1 ln x are linearly independent for x > 0, and the general solution of Eq. (1) is y = (c1 + c2 ln x)x r1 ,
x > 0.
(11)
Solve EXAMPLE
x 2 y + 5x y + 4y = 0,
2
x > 0.
(12)
Substituting y = x r in Eq. (12) gives x r [r (r − 1) + 5r + 4] = x r (r 2 + 4r + 4) = 0. Hence r1 = r2 = −2, and y = x −2 (c1 + c2 ln x),
x > 0.
(13)
Complex Roots. Finally, suppose that the roots r1 and r2 are complex conjugates, say, r1 = λ + iµ and r2 = λ − iµ, with µ = 0. We must now explain what is meant by x r when r is complex. Remembering that x r = er ln x
(14)
when x > 0 and r is real, we can use this equation to define x r when r is complex. Then x λ+iµ = e(λ+iµ) ln x = eλ ln x eiµ ln x = x λ eiµ ln x = x λ [cos(µ ln x) + i sin(µ ln x)],
x > 0.
(15)
r
With this definition of x for complex values of r , it can be verified that the usual laws of algebra and the differential calculus hold, and hence x r1 and x r2 are indeed solutions of Eq. (1). The general solution of Eq. (1) is y = c1 x λ+iµ + c2 x λ−iµ .
(16)
The disadvantage of this expression is that the functions x λ+iµ and x λ−iµ are complexvalued. Recall that we had a similar situation for the second order differential equation with constant coefficients when the roots of the characteristic equation were complex. In the same way as we did then we observe that the real and imaginary parts of x λ+iµ , namely, x λ cos(µ ln x)
and
x λ sin(µ ln x),
(17)
are also solutions of Eq. (1). A straightforward calculation shows that W [x λ cos(µ ln x), x λ sin(µ ln x)] = µx 2λ−1 . Hence these solutions are also linearly independent for x > 0, and the general solution of Eq. (1) is y = c1 x λ cos(µ ln x) + c2 x λ sin(µ ln x),
x > 0.
(18)
263
5.5 Euler Equations
Solve EXAMPLE
x 2 y + x y + y = 0.
3
(19)
Substituting y = x r in Eq. (19) gives x r [r (r − 1) + r + 1] = x r (r 2 + 1) = 0. Hence r = ±i, and the general solution is y = c1 cos(ln x) + c2 sin(ln x),
x > 0.
(20)
Now let us consider the qualitative behavior of the solutions of Eq. (1) near the singular point x = 0. This depends entirely on the nature of the exponents r1 and r2 . First, if r is real and positive, then x r → 0 as x tends to zero through positive values. On the other hand, if r is real and negative, then x r becomes unbounded, while if r = 0, then x r = 1. These possibilities are shown in Figure 5.5.1 for various values of r . If r is complex, then a typical solution is x λ cos(µ ln x). This function becomes unbounded or approaches zero if λ is negative or positive, respectively, and also oscillates more and more rapidly as x → 0. This behavior is shown in Figures 5.5.2 and 5.5.3 for selected values of λ and µ. If λ = 0, the oscillation is of constant amplitude. Finally, if there are repeated roots, then one solution is of the form x r ln x, which tends to zero if r > 0 and becomes unbounded if r ≤ 0. An example of each case is shown in Figure 5.5.4. The extension of the solutions of Eq. (1) into the interval x < 0 can be carried out in a relatively straightforward manner. The difficulty lies in understanding what is meant by x r when x is negative and r is not an integer; similarly, ln x has not been defined for x < 0. The solutions of the Euler equation that we have given for x > 0 can be shown to be valid for x < 0, but in general they are complex-valued. Thus in Example 1 the solution x 1/2 is imaginary for x < 0.
y y = x–1/2
y = x–3/2
2
y = x0 1 y = x1/2 y = x3/2 0.5
1
1.5
FIGURE 5.5.1 Solutions of an Euler equation; real roots.
2
x
264
Chapter 5. Series Solutions of Second Order Linear Equations y 2
y 1
y = x–1/4 cos(5 ln x)
0.125
0.25
0.5 x
0.375
0.5 –1
–2
FIGURE 5.5.2 Solution of an Euler equation; complex roots with negative real part.
1
1.5
2 x
y = x1/2 cos(5 ln x)
FIGURE 5.5.3 Solution of an Euler equation; complex roots with positive real part.
y 1
0.5 y = x ln x –1
1
1.5
2 x
y = x –1 ln x
FIGURE 5.5.4 Solutions of an Euler equation; repeated roots.
It is always possible to obtain real-valued solutions of the Euler equation (1) in the interval x < 0 by making the following change of variable. Let x = −ξ , where ξ > 0, and let y = u(ξ ). Then we have d du dξ du d2 y du dξ d 2u dy = . (21) = =− , − = dx dξ dx dξ dξ dξ dx dx 2 dξ 2 Thus Eq. (1), for x < 0, takes the form ξ2
du d 2u + αξ + βu = 0, dξ dξ 2
ξ > 0.
(22)
But this is exactly the problem that we have just solved; from Eqs. (6), (11), and (18) we have r1 r2 c 1 ξ + c2 ξ u(ξ ) =
(c1 + c2 ln ξ )ξ r1 λ
(23) λ
c1 ξ cos(µ ln ξ ) + c2 ξ sin(µ ln ξ ),
depending on whether the zeros of F(r ) = r (r − 1) + αr + β are real and different, real and equal, or complex conjugates. To obtain u in terms of x we replace ξ by −x in Eqs. (23). We can combine the results for x > 0 and x < 0 by recalling that |x| = x when x > 0 and that |x| = −x when x < 0. Thus we need only replace x by |x| in Eqs. (6),
265
5.5 Euler Equations
(11), and (18) to obtain real-valued solutions valid in any interval not containing the origin (also see Problems 30 and 31). These results are summarized in the following theorem.
Theorem 5.5.1
The general solution of the Euler equation (1), x 2 y + αx y + βy = 0, in any interval not containing the origin is determined by the roots r1 and r2 of the equation F(r ) = r (r − 1) + αr + β = 0. If the roots are real and different, then y = c1 |x|r1 + c2 |x|r2 .
(24)
If the roots are real and equal, then y = (c1 + c2 ln |x|)|x|r1 .
(25)
y = |x|λ [c1 cos(µ ln |x|) + c2 sin(µ ln |x|)],
(26)
If the roots are complex, then where r1 , r2 = λ ± iµ. The solutions of an Euler equation of the form (x − x0 )2 y + α(x − x0 )y + βy = 0
(27)
are similar to those given in Theorem 5.5.1. If one looks for solutions of the form y = (x − x0 )r , then the general solution is given by either Eq. (24), (25), or (26) with x replaced by x − x0 . Alternatively, we can reduce Eq. (27) to the form of Eq. (1) by making the change of independent variable t = x − x0 . The situation for a general second order differential equation with a regular singular point is analogous to that for an Euler equation. We consider that problem in the next section.
PROBLEMS
In each of Problems 1 through 12 determine the general solution of the given differential equation that is valid in any interval not including the singular point. 2. (x + 1)2 y + 3(x + 1)y + 0.75y = 0 1. x 2 y + 4x y + 2y = 0 2 3. x y − 3x y + 4y = 0 4. x 2 y + 3x y + 5y = 0 6. (x − 1)2 y + 8(x − 1)y + 12y = 0 5. x 2 y − x y + y = 0 7. x 2 y + 6x y − y = 0 8. 2x 2 y − 4x y + 6y = 0 2 9. x y − 5x y + 9y = 0 10. (x − 2)2 y + 5(x − 2)y + 8y = 0 2 11. x y + 2x y + 4y = 0 12. x 2 y − 4x y + 4y = 0
䉴 䉴 䉴 䉴
In each of Problems 13 through 16 find the solution of the given initial value problem. Plot the graph of the solution and describe how the solution behaves as x → 0. 13. 2x 2 y + x y − 3y = 0, y(1) = 1, y (1) = 4 2 14. 4x y + 8x y + 17y = 0, y(1) = 2, y (1) = −3 15. x 2 y − 3x y + 4y = 0, y(−1) = 2, y (−1) = 3 2 16. x y + 3x y + 5y = 0, y(1) = 1, y (1) = −1
266
Chapter 5. Series Solutions of Second Order Linear Equations
17. Find all values of α for which all solutions of x 2 y + αx y + (5/2)y = 0 approach zero as x → 0. 18. Find all values of β for which all solutions of x 2 y + βy = 0 approach zero as x → 0. 19. Find γ so that the solution of the initial value problem x 2 y − 2y = 0, y(1) = 1, y (1) = γ is bounded as x → 0. 20. Find all values of α for which all solutions of x 2 y + αx y + (5/2)y = 0 approach zero as x → ∞. 21. Consider the Euler equation x 2 y + αx y + βy = 0. Find conditions on α and β so that (a) All solutions approach zero as x → 0. (b) All solutions are bounded as x → 0. (c) All solutions approach zero as x → ∞. (d) All solutions are bounded as x → ∞. (e) All solutions are bounded both as x → 0 and as x → ∞. 22. Using the method of reduction of order, show that if r1 is a repeated root of r (r − 1) + αr + β = 0, then x r1 and x r1 ln x are solutions of x 2 y + αx y + βy = 0 for x > 0. 23. Transformation to a Constant Coefficient Equation. The Euler equation x 2 y + αx y + βy = 0 can be reduced to an equation with constant coefficients by a change of the independent variable. Let x = e z , or z = ln x, and consider only the interval x > 0. (a) Show that dy 1 dy = dx x dz
and
1 d2 y 1 dy d2 y = − 2 . 2 2 2 dx x dz x dz
(b) Show that the Euler equation becomes d2 y dy + (α − 1) + βy = 0. dz dz 2 Letting r1 and r2 denote the roots of r 2 + (α − 1)r + β = 0, show that (c) If r1 and r2 are real and different, then y = c1 er1 z + c2 er2 z = c1 x r1 + c2 x r2 . (d) If r1 and r2 are real and equal, then y = (c1 + c2 z)er1 z = (c1 + c2 ln x)x r1 . (e) If r1 and r2 are complex conjugates, r1 = λ + iµ, then y = eλz [c1 cos(µz) + c2 sin(µz)] = x λ [c1 cos(µ ln x) + c2 sin(µ ln x)]. In each of Problems 24 through 29 use the method of Problem 23 to solve the given equation for x > 0. 24. 26. 28. 30.
25. x 2 y − 3x y + 4y = ln x x 2 y − 2y = 0 2 27. x 2 y − 2x y + 2y = 3x 2 + 2 ln x x y + 7x y + 5y = x 2 x y + x y + 4y = sin(ln x) 29. 3x 2 y + 12x y + 9y = 0 2 Show that if L[y] = x y + αx y + βy, then L[(−x)r ] = (−x)r F(r )
for all x < 0, where F(r ) = r (r − 1) + αr + β. Hence conclude that if r1 = r2 are roots of F(r ) = 0, then linearly independent solutions of L[y] = 0 for x < 0 are (−x)r1 and (−x)r2 . 31. Suppose that x r1 and x r2 are solutions of an Euler equation for x > 0, where r1 = r2 , and r1 is an integer. According to Eq. (24) the general solution in any interval not containing the origin is y = c1 |x|r1 + c2 |x|r2 . Show that the general solution can also be written as
267
5.6 Series Solutions near a Regular Singular Point, Part I
y = k1 x r1 + k2 |x|r2 . Hint: Show by a proper choice of constants that the expressions are identical for x > 0, and by a different choice of constants that they are identical for x < 0.
5.6 Series Solutions near a Regular Singular Point, Part I We now consider the question of solving the general second order linear equation P(x)y + Q(x)y + R(x)y = 0
ODE
(1)
in the neighborhood of a regular singular point x = x0 . For convenience we assume that x0 = 0. If x0 = 0, the equation can be transformed into one for which the regular singular point is at the origin by letting x − x0 equal t. The fact that x = 0 is a regular singular point of Eq. (1) means that x Q(x)/P(x) = x p(x) and x 2 R(x)/P(x) = x 2 q(x) have finite limits as x → 0, and are analytic at x = 0. Thus they have convergent power series expansions of the form x p(x) =
∞
pn x n ,
x 2 q(x) =
∞
n=0
qn x n ,
(2)
n=0
on some interval |x| < ρ about the origin, where ρ > 0. To make the quantities x p(x) and x 2 q(x) appear in Eq. (1), it is convenient to divide Eq. (1) by P(x) and then to multiply by x 2 , obtaining x 2 y + x[x p(x)]y + [x 2 q(x)]y = 0,
(3)
x 2 y + x( p0 + p1 x + · · · + pn x n + · · ·)y + (q0 + q1 x + · · · + qn x n + · · ·)y = 0.
(4)
or
If all of the coefficients pn and qn are zero except possibly p0 = lim
x→0
x Q(x) P(x)
and
q0 = lim
x→0
x 2 R(x) , P(x)
(5)
then Eq. (4) reduces to the Euler equation x 2 y + p0 x y + q0 y = 0,
(6)
which was discussed in the preceding section. In general, of course, some of the pn and qn , n ≥ 1, are not zero. However, the essential character of solutions of Eq. (4) is identical to that of solutions of the Euler equation (6). The presence of the terms p1 x + · · · + pn x n + · · · and q1 x + · · · + qn x n + · · · merely complicates the calculations. We restrict our discussion primarily to the interval x > 0. The interval x < 0 can be treated, just as for the Euler equation, by making the change of variable x = −ξ and then solving the resulting equation for ξ > 0.
268
Chapter 5. Series Solutions of Second Order Linear Equations
Since the coefficients in Eq. (4) are “Euler coefficients” times power series, it is natural to seek solutions in the form of “Euler solutions” times power series. Thus we assume that ∞ ∞ an x n = an x r +n , (7) y = x r (a0 + a1 x + · · · + an x n + · · ·) = x r n=0
n=0
where a0 = 0. In other words, r is the exponent of the first term in the series and a0 is its coefficient. As part of the solution we have to determine: 1. 2. 3.
The values of r for which Eq. (1) has a solution of the form (7). The recurrence relation for the coefficients an . ∞ an x n . The radius of convergence of the series n=0
10
The general theory is due to Frobenius and is fairly complicated. Rather than trying to present this theory we simply assume in this and the next two sections that there does exist a solution of the stated form. In particular, we assume that any power series in an expression for a solution has a nonzero radius of convergence, and concentrate on showing how to determine the coefficients in such a series. To illustrate the method of Frobenius we first consider an example.
Solve the differential equation EXAMPLE
1
2x 2 y − x y + (1 + x)y = 0.
(8)
It is easy to show that x = 0 is a regular singular point of Eq. (8). Further, x p(x) = −1/2 and x 2 q(x) = (1 + x)/2. Thus p0 = −1/2, q0 = 1/2, q1 = 1/2, and all other p’s and q’s are zero. Then, from Eq. (6), the Euler equation corresponding to Eq. (8) is 2x 2 y − x y + y = 0.
(9)
To solve Eq. (8) we assume that there is a solution of the form (7). Then y and y are given by y =
∞
an (r + n)x r +n−1
(10)
an (r + n)(r + n − 1)x r +n−2 .
(11)
n=0
and y =
∞ n=0
By substituting the expressions for y, y , and y in Eq. (8) we obtain 2x 2 y − x y + (1 + x)y =
∞
2an (r + n)(r + n − 1)x r +n
n=0
−
∞ n=0
an (r + n)x r +n +
∞ n=0
an x r +n +
∞
an x r +n+1 .
(12)
n=0
10 Ferdinand Georg Frobenius (1849 –1917) was (like Fuchs) a student and eventually a professor at the University of Berlin. He showed how to construct series solutions about regular singular points in 1874. His most distinguished work, however, was in algebra where he was one of the foremost early developers of group theory.
269
5.6 Series Solutions near a Regular Singular Point, Part I
The last term in Eq. (12) can be written as
∞ n=1
an−1 x r +n , so by combining the terms in
Eq. (12) we obtain 2x 2 y − x y + (1 + x)y = a0 [2r (r − 1) − r + 1]x r ∞ + {[2(r + n)(r + n − 1) − (r + n) + 1]an + an−1 }x r +n = 0.
(13)
n=1
If Eq. (13) is to be satisfied for all x, the coefficient of each power of x in Eq. (13) must be zero. From the coefficient of x r we obtain, since a0 = 0, 2r (r − 1) − r + 1 = 2r 2 − 3r + 1 = (r − 1)(2r − 1) = 0.
(14)
Equation (14) is called the indicial equation for Eq. (8). Note that it is exactly the polynomial equation we would obtain for the Euler equation (9) associated with Eq. (8). The roots of the indicial equation are r1 = 1,
r2 = 1/2.
(15)
These values of r are called the exponents at the singularity for the regular singular point x = 0. They determine the qualitative behavior of the solution (7) in the neighborhood of the singular point. Now we return to Eq. (13) and set the coefficient of x r +n equal to zero. This gives the relation [2(r + n)(r + n − 1) − (r + n) + 1]an + an−1 = 0
(16)
or an−1
an = −
2(r + n) − 3(r + n) + 1 an−1 , =− [(r + n) − 1][2(r + n) − 1] 2
n ≥ 1.
(17)
For each root r1 and r2 of the indicial equation we use the recurrence relation (17) to determine a set of coefficients a1 , a2 , . . . . For r = r1 = 1, Eq. (17) becomes an = −
an−1 , (2n + 1)n
n ≥ 1.
Thus a0 , 3·1 a0 a a2 = − 1 = , 5·2 (3 · 5)(1 · 2) a1 = −
and a3 = −
a0 a2 =− . 7·3 (3 · 5 · 7)(1 · 2 · 3)
In general we have an =
(−1)n a , [3 · 5 · 7 · · · (2n + 1)]n! 0
n ≥ 1.
(18)
270
Chapter 5. Series Solutions of Second Order Linear Equations
Hence, if we omit the constant multiplier a0 , one solution of Eq. (8) is ∞ (−1)n x n y1 (x) = x 1 + , x > 0. [3 · 5 · 7 · · · (2n + 1)]n! n=1
(19)
To determine the radius of convergence of the series in Eq. (19) we use the ratio test: a x n+1 |x| n+1 =0 lim = lim n→∞ a x n n→∞ (2n + 3)(n + 1) n for all x. Thus the series converges for all x. Corresponding to the second root r = r2 = 12 , we proceed similarly. From Eq. (17) we have an−1 an−1 =− an = − , n ≥ 1. 1 n(2n − 1) 2n(n − 2 ) Hence a0 , 1·1 a0 a1 = , a2 = − 2·3 (1 · 2)(1 · 3) a0 a , a3 = − 2 = − 3·5 (1 · 2 · 3)(1 · 3 · 5) a1 = −
and in general (−1)n n ≥ 1. a , n![1 · 3 · 5 · · · (2n − 1)] 0 Again omitting the constant multiplier a0 , we obtain the second solution ∞ (−1)n x n 1/2 y2 (x) = x 1+ , x > 0. n![1 · 3 · 5 · · · (2n − 1)] n=1 an =
(20)
(21)
As before, we can show that the series in Eq. (21) converges for all x. Since the leading terms in the series solutions y1 and y2 are x and x 1/2 , respectively, it follows that the solutions are linearly independent. Hence the general solution of Eq. (8) is y = c1 y1 (x) + c2 y2 (x),
x > 0.
The preceding example illustrates that if x = 0 is a regular singular point, then sometimes there are two solutions of the form (7) in the neighborhood of this point. Similarly, if there is a regular singular point at x = x0 , then there may be two solutions of the form ∞ an (x − x0 )n (22) y = (x − x0 )r n=0
that are valid near x = x0 . However, just as an Euler equation may not have two solutions of the form y = x r , so a more general equation with a regular singular point may not have two solutions of the form (7) or (22). In particular, we show in the next section that if the roots r1 and r2 of the indicial equation are equal, or differ by an
271
5.6 Series Solutions near a Regular Singular Point, Part I
integer, then the second solution normally has a more complicated structure. In all cases, though, it is possible to find at least one solution of the form (7) or (22); if r1 and r2 differ by an integer, this solution corresponds to the larger value of r . If there is only one such solution, then the second solution involves a logarithmic term, just as for the Euler equation when the roots of the characteristic equation are equal. The method of reduction of order or some other procedure can be invoked to determine the second solution in such cases. This is discussed in Sections 5.7 and 5.8. If the roots of the indicial equation are complex, then they cannot be equal or differ by an integer, so there are always two solutions of the form (7) or (22). Of course, these solutions are complex-valued functions of x. However, as for the Euler equation, it is possible to obtain real-valued solutions by taking the real and imaginary parts of the complex solutions. Finally, we mention a practical point. If P, Q, and R are polynomials, it is often much better to work directly with Eq. (1) than with Eq. (3). This avoids the necessity of expressing x Q(x)/P(x) and x 2 R(x)/P(x) as power series. For example, it is more convenient to consider the equation x(1 + x)y + 2y + x y = 0 than to write it in the form x 2 y +
2x x2 y + y = 0, 1+x 1+x
which would entail expanding 2x/(1 + x) and x 2 /(1 + x) in power series.
PROBLEMS
In each of Problems 1 through 10 show that the given differential equation has a regular singular point at x = 0. Determine the indicial equation, the recurrence relation, and the roots of the indicial equation. Find the series solution (x > 0) corresponding to the larger root. If the roots are unequal and do not differ by an integer, find the series solution corresponding to the smaller root also. 1. 3. 5. 7. 9.
2x y + y + x y = 0 x y + y = 0 3x 2 y + 2x y + x 2 y = 0 x y + (1 − x)y − y = 0 x 2 y − x(x + 3)y + (x + 3)y = 0
2. 4. 6. 8. 10.
x 2 y + x y + (x 2 − 19 )y = 0 x y + y − y = 0 x 2 y + x y + (x − 2)y = 0 2x 2 y + 3x y + (2x 2 − 1)y = 0 x 2 y + (x 2 + 14 )y = 0
11. The Legendre equation of order α is (1 − x 2 )y − 2x y + α(α + 1)y = 0. The solution of this equation near the ordinary point x = 0 was discussed in Problems 22 and 23 of Section 5.3. In Example 5 of Section 5.4 it was shown that x = ±1 are regular singular points. Determine the indicial equation and its roots for the point x = 1. Find a series solution in powers of x − 1 for x − 1 > 0. Hint: Write 1 + x = 2 + (x − 1) and x = 1 + (x − 1). Alternatively, make the change of variable x − 1 = t and determine a series solution in powers of t. 12. The Chebyshev equation is (1 − x 2 )y − x y + α 2 y = 0, where α is a constant; see Problem 10 of Section 5.3. (a) Show that x = 1 and x = −1 are regular singular points, and find the exponents at each of these singularities. (b) Find two linearly independent solutions about x = 1.
272
Chapter 5. Series Solutions of Second Order Linear Equations
13. The Laguerre11 differential equation is x y + (1 − x)y + λy = 0. Show that x = 0 is a regular singular point. Determine the indicial equation, its roots, the recurrence relation, and one solution (x > 0). Show that if λ = m, a positive integer, this solution reduces to a polynomial. When properly normalized this polynomial is known as the Laguerre polynomial, L m (x). 14. The Bessel equation of order zero is x 2 y + x y + x 2 y = 0. Show that x = 0 is a regular singular point; that the roots of the indicial equation are r1 = r2 = 0; and that one solution for x > 0 is J0 (x) = 1 +
∞ (−1)n x 2n n=1
22n (n!)2
.
Show that the series converges for all x. The function J0 is known as the Bessel function of the first kind of order zero. 15. Referring to Problem 14, use the method of reduction of order to show that the second solution of the Bessel equation of order zero contains a logarithmic term. Hint: If y2 (x) = J0 (x)v(x), then
dx . y2 (x) = J0 (x) x[J0 (x)]2 Find the first term in the series expansion of 1/x[J0 (x)]2 . 16. The Bessel equation of order one is x 2 y + x y + (x 2 − 1)y = 0. (a) Show that x = 0 is a regular singular point; that the roots of the indicial equation are r1 = 1 and r2 = −1; and that one solution for x > 0 is J1 (x) =
∞ (−1)n x 2n x . 2 n=0 (n + 1)! n! 22n
Show that the series converges for all x. The function J1 is known as the Bessel function of the first kind of order one. (b) Show that it is impossible to determine a second solution of the form x −1
∞
bn x n ,
x > 0.
n=0
5.7 Series Solutions near a Regular Singular Point, Part II Now let us consider the general problem of determining a solution of the equation L[y] = x 2 y + x[x p(x)]y + [x 2 q(x)]y = 0,
(1)
11 Edmond Nicolas Laguerre (1834 –1886), a French geometer and analyst, studied the polynomials named for him about 1879.
273
5.7 Series Solutions near a Regular Singular Point, Part II
where x p(x) =
∞
pn x n ,
x 2 q(x) =
∞
n=0
qn x n ,
(2)
n=0
and both series converge in an interval |x| < ρ for some ρ > 0. The point x = 0 is a regular singular point, and the corresponding Euler equation is x 2 y + p0 x y + q0 y = 0.
(3)
We seek a solution of Eq. (1) for x > 0 and assume that it has the form y = φ(r, x) = x
r
∞
an x = n
∞
n=0
an x r +n ,
(4)
n=0
where a0 = 0, and we have written y = φ(r, x) to emphasize that φ depends on r as well as x. It follows that ∞ ∞ (r + n)an x r +n−1 , y = (r + n)(r + n − 1)an x r +n−2 . (5) y = n=0
n=0
Then, substituting from Eqs. (2), (4), and (5) in Eq. (1) gives a0 r (r − 1)x r + a1 (r + 1)r x r +1 + · · · + an (r + n)(r + n − 1)x r +n + · · · + ( p0 + p1 x + · · · + pn x n + · · ·) × [a0 r x r + a1 (r + 1)x r +1 + · · · + an (r + n)x r +n + · · ·] + (q0 + q1 x + · · · + qn x n + · · ·) × (a0 x r + a1 x r +1 + · · · + an x r +n + · · ·) = 0.
Multiplying the infinite series together and then collecting terms, we obtain a0 F(r )x r + [a1 F(r + 1) + a0 ( p1 r + q1 )]x r +1
+ {a2 F(r + 2) + a0 ( p2 r + q2 ) + a1 [ p1 (r + 1) + q1 ]}x r +2 + · · · + {an F(r + n) + a0 ( pn r + qn ) + a1 [ pn−1 (r + 1) + qn−1 ]
+ · · · + an−1 [ p1 (r + n − 1) + q1 ]}x r +n + · · · = 0, or in a more compact form,
L[φ](r, x) = a0 F(r )x r ∞ n−1 + ak [(r + k) pn−k + qn−k ] x r +n = 0, F(r + n)an + n=1
(6)
k=0
where F(r ) = r (r − 1) + p0r + q0 .
(7)
For Eq. (6) to be satisfied identically the coefficient of each power of x must be zero. Since a0 = 0, the term involving x r yields the equation F(r ) = 0. This equation is called the indicial equation; note that it is exactly the equation we would obtain in looking for solutions y = x r of the Euler equation (3). Let us denote the roots of the indicial equation by r1 and r2 with r1 ≥ r2 if the roots are real. If the roots are complex, the designation of the roots is immaterial. Only for these values of r can we expect to find solutions of Eq. (1) of the form (4). The roots r1 and r2 are called the
274
Chapter 5. Series Solutions of Second Order Linear Equations
exponents at the singularity; they determine the qualitative nature of the solution in the neighborhood of the singular point. Setting the coefficient of x r +n in Eq. (6) equal to zero gives the recurrence relation F(r + n)an +
n−1
ak [(r + k) pn−k + qn−k ] = 0,
n ≥ 1.
(8)
k=0
Equation (8) shows that, in general, an depends on the value of r and all the preceding coefficients a0 , a1 , . . . , an−1 . It also shows that we can successively compute a1 , a2 , . . . , an , . . . in terms of a0 and the coefficients in the series for x p(x) and x 2 q(x) provided that F(r + 1), F(r + 2), . . . , F(r + n), . . . are not zero. The only values of r for which F(r ) = 0 are r = r1 and r = r2 ; since r1 ≥ r2 , it follows that r1 + n is not equal to r1 or r2 for n ≥ 1. Consequently, F(r1 + n) = 0 for n ≥ 1. Hence we can always determine one solution of Eq. (1) in the form (4), namely, ∞ r1 n an (r1 )x , 1+ x > 0. (9) y1 (x) = x n=1
Here we have introduced the notation an (r1 ) to indicate that an has been determined from Eq. (8) with r = r1 . To specify the arbitrary constant in the solution we have taken a0 to be 1. If r2 is not equal to r1 , and r1 − r2 is not a positive integer, then r2 + n is not equal to r1 for any value of n ≥ 1; hence F(r2 + n) = 0, and we can also obtain a second solution ∞ r2 n y2 (x) = x 1+ x > 0. (10) an (r2 )x , n=1
Just as for the series solutions about ordinary points discussed in Section 5.3, the series in Eqs. (9) and (10) converge at least in the interval |x| < ρ where the series for both x p(x) and x 2 q(x) converge. Within their radii of convergence, the power series ∞ ∞ an (r1 )x n and 1 + an (r2 )x n define functions that are analytic at x = 0. Thus 1+ n=1
n=1
the singular behavior, if there is any, of the solutions y1 and y2 is due to the factors x r1 and x r2 that multiply these two analytic functions. Next, to obtain real-valued solutions for x < 0, we can make the substitution x = −ξ with ξ > 0. As we might expect from our discussion of the Euler equation, it turns out that we need only replace x r1 in Eq. (9) and x r2 in Eq. (10) by |x|r1 and |x|r2 , respectively. Finally, note that if r1 and r2 are complex numbers, then they are necessarily complex conjugates and r2 = r1 + N . Thus, in this case we can always find two series solutions of the form (4); however, they are complex-valued functions of x. Real-valued solutions can be obtained by taking the real and imaginary parts of the complex-valued solutions. The exceptional cases in which r1 = r2 or r1 − r2 = N , where N is a positive integer, require more discussion and will be considered later in this section. It is important to realize that r1 and r2 , the exponents at the singular point, are easy to find and that they determine the qualitative behavior of the solutions. To calculate r1 and r2 it is only necessary to solve the quadratic indicial equation r (r − 1) + p0r + q0 = 0,
(11)
275
5.7 Series Solutions near a Regular Singular Point, Part II
whose coefficients are given by p0 = lim x p(x), x→0
q0 = lim x 2 q(x).
(12)
x→0
Note that these are exactly the limits that must be evaluated in order to classify the singularity as a regular singular point; thus they have usually been determined at an earlier stage of the investigation. Further, if x = 0 is a regular singular point of the equation P(x)y + Q(x)y + R(x)y = 0,
(13)
where the functions P, Q, and R are polynomials, then x p(x) = x Q(x)/P(x) and x 2 q(x) = x 2 R(x)/P(x). Thus p0 = lim x x→0
Q(x) , P(x)
q0 = lim x 2 x→0
R(x) . P(x)
(14)
Finally, the radii of convergence for the series in Eqs. (9) and (10) are at least equal to the distance from the origin to the nearest zero of P other than x = 0 itself.
Discuss the nature of the solutions of the equation EXAMPLE
2x(1 + x)y + (3 + x)y − x y = 0
1
near the singular points. This equation is of the form (13) with P(x) = 2x(1 + x), Q(x) = 3 + x, and R(x) = −x. The points x = 0 and x = −1 are the only singular points. The point x = 0 is a regular singular point, since Q(x) 3+x 3 = lim x = , x→0 P(x) x→0 2x(1 + x) 2 R(x) −x = lim x 2 = 0. lim x 2 x→0 P(x) x→0 2x(1 + x) lim x
Further, from Eq. (14), p0 = 32 and q0 = 0. Thus the indicial equation is r (r − 1) + 3 r = 0, and the roots are r1 = 0, r2 = − 12 . Since these roots are not equal and do not 2 differ by an integer, there are two linearly independent solutions of the form ∞ ∞ n −1/2 1 n an (0)x and y2 (x) = |x| an (− 2 )x y1 (x) = 1 + 1+ n=1
n=1
for 0 < |x| < ρ. A lower bound for the radius of convergence of each series is 1, the distance from x = 0 to x = −1, the other zero of P(x). Note that the solution y1 is bounded as x → 0, indeed is analytic there, and that the second solution y2 is unbounded as x → 0. The point x = −1 is also a regular singular point, since (x + 1)(3 + x) Q(x) = lim = −1, x→−1 x→−1 P(x) 2x(1 + x) R(x) (x + 1)2 (−x) = lim = 0. lim (x + 1)2 x→−1 P(x) x→−1 2x(1 + x) lim (x + 1)
276
Chapter 5. Series Solutions of Second Order Linear Equations
In this case p0 = −1, q0 = 0, so the indicial equation is r (r − 1) − r = 0. The roots of the indicial equation are r1 = 2 and r2 = 0. Corresponding to the larger root there is a solution of the form ∞ an (2)(x + 1)n . y1 (x) = (x + 1)2 1 + n=1
The series converges at least for |x + 1| < 1 and y1 is an analytic function there. Since the two roots differ by a positive integer, there may or may not be a second solution of the form ∞ y2 (x) = 1 + an (0)(x + 1)n . n=1
We cannot say more without further analysis. Observe that no complicated calculations were required to discover the information about the solutions presented in this example. All that was needed was to evaluate a few limits and solve two quadratic equations. We now consider the cases in which the roots of the indicial equation are equal, or differ by a positive integer, r1 − r2 = N . As we have shown earlier, there is always one solution of the form (9) corresponding to the larger root r1 of the indicial equation. By analogy with the Euler equation, we might expect that if r1 = r2 , then the second solution contains a logarithmic term. This may also be true if the roots differ by an integer. Equal Roots. The method of finding the second solution is essentially the same as the one we used in finding the second solution of the Euler equation (see Section 5.5) when the roots of the indicial equation were equal. We consider r to be a continuous variable and determine an as a function of r by solving the recurrence relation (8). For this choice of an (r ) for n ≥ 1, Eq. (6) reduces to L[φ](r, x) = a0 F(r )x r = a0 (r − r1 )2 x r ,
(15)
since r1 is a repeated root of F(r ). Setting r = r1 in Eq. (15), we find that L[φ](r1 , x) = 0; hence, as we already know, y1 (x) given by Eq. (9) is one solution of Eq. (1). But more important, it also follows from Eq. (15), just as for the Euler equation, that
∂φ ∂ L (r1 , x) = a0 [x r (r − r1 )2 ] r =r1 ∂r ∂r = a0 [(r − r1 )2 x r ln x + 2(r − r1 )x r ] = 0. (16) r =r1
Hence, a second solution of Eq. (1) is ∞ ∂φ(r, x) ∂ = an (r )x n x r a0 + y2 (x) = r =r1 ∂r ∂r n=1 r =r 1 ∞ ∞ = (x r1 ln x) a0 + an (r1 )x n + x r1 an (r1 )x n n=1
= y1 (x) ln x + x r1
∞ n=1
n=1
an (r1 )x n ,
x > 0,
(17)
277
5.7 Series Solutions near a Regular Singular Point, Part II
where an (r1 ) denotes dan /dr evaluated at r = r1 . It may turn out that it is difficult to determine an (r ) as a function of r from the recurrence relation (8) and then to differentiate the resulting expression with respect to r . An alternative is simply to assume that y has the form of Eq. (17), that is, y = y1 (x) ln x + x r1
∞
bn x n ,
x > 0,
(18)
n=1
where y1 (x) has already been found. The coefficients bn are calculated, as usual, by substituting into the differential equation, collecting terms, and setting the coefficient of each power of x equal to zero. A third possibility is to use the method of reduction of order to find y2 (x) once y1 (x) is known. Roots Differing by an Integer. For this case the derivation of the second solution is considerably more complicated and will not be given here. The form of this solution is stated in Eq. (24) in the following theorem. The coefficients cn (r2 ) in Eq. (24) are given by d , n = 1, 2, . . . , (19) cn (r2 ) = [(r − r2 )an (r )] r =r2 dr where an (r ) is determined from the recurrence relation (8) with a0 = 1. Further, the coefficient a in Eq. (24) is a = lim (r − r2 )a N (r ).
(20)
r →r2
If a N (r2 ) is finite, then a = 0 and there is no logarithmic term in y2 . A full derivation of the formulas (19), (20) may be found in Coddington (Chapter 4). In practice the best way to determine whether a is zero in the second solution is simply to try to compute the an corresponding to the root r2 and to see whether it is possible to determine a N (r2 ). If so, there is no further problem. If not, we must use the form (24) with a = 0. When r1 − r2 = N , there are again three ways to find a second solution. First, we can calculate a and cn (r2 ) directly by substituting the expression (24) for y in Eq. (1). Second, we can calculate cn (r2 ) and a of Eq. (24) using the formulas (19) and (20). If this is the planned procedure, then in calculating the solution corresponding to r = r1 be sure to obtain the general formula for an (r ) rather than just an (r1 ). The third alternative is to use the method of reduction of order.
Theorem 5.7.1
Consider the differential equation (1), x 2 y + x[x p(x)]y + [x 2 q(x)]y = 0, where x = 0 is a regular singular point. Then x p(x) and x 2 q(x) are analytic at x = 0 with convergent power series expansions x p(x) =
∞ n=0
pn x n ,
x 2 q(x) =
∞ n=0
qn x n
278
Chapter 5. Series Solutions of Second Order Linear Equations
for |x| < ρ, where ρ > 0 is the minimum of the radii of convergence of the power series for x p(x) and x 2 q(x). Let r1 and r2 be the roots of the indicial equation F(r ) = r (r − 1) + p0r + q0 = 0, with r1 ≥ r2 if r1 and r2 are real. Then in either of the intervals −ρ < x < 0 or 0 < x < ρ, there exists a solution of the form ∞ r1 n (21) an (r1 )x , y1 (x) = |x| 1 + n=1
where the an (r1 ) are given by the recurrence relation (8) with a0 = 1 and r = r1 . If r1 − r2 is not zero or a positive integer, then in either of the intervals −ρ < x < 0 or 0 < x < ρ, there exists a second linearly independent solution of the form ∞ (22) an (r2 )x n . y2 (x) = |x|r2 1 + n=1
The an (r2 ) are also determined by the recurrence relation (8) with a0 = 1 and r = r2 . The power series in Eqs. (21) and (22) converge at least for |x| < ρ. If r1 = r2 , then the second solution is y2 (x) = y1 (x) ln |x| + |x|r1
∞
bn (r1 )x n .
(23)
n=1
If r1 − r2 = N , a positive integer, then
y2 (x) = ay1 (x) ln |x| + |x|r2 1 +
∞
cn (r2 )x n .
(24)
n=1
The coefficients an (r1 ), bn (r1 ), cn (r2 ), and the constant a can be determined by substituting the form of the series solutions for y in Eq. (1). The constant a may turn out to be zero, in which case there is no logarithmic term in the solution (24). Each of the series in Eqs. (23) and (24) converges at least for |x| < ρ and defines a function that is analytic in some neighborhood of x = 0.
PROBLEMS
In each of Problems 1 through 12 find all the regular singular points of the given differential equation. Determine the indicial equation and the exponents at the singularity for each regular singular point. 1. 3. 5. 7. 9. 10. 11. 12.
x y + 2x y + 6e x y = 0 x(x − 1)y + 6x 2 y + 3y = 0 x 2 y + 3(sin x)y − 2y = 0 x 2 y + 12 (x + sin x)y + y = 0 x 2 (1 − x)y − (1 + x)y + 2x y = 0 (x − 2)2 (x + 2)y + 2x y + 3(x − 2)y = 0 (4 − x 2 )y + 2x y + 3y = 0 x(x + 3)2 y − 2(x + 3)y − x y = 0
2. 4. 6. 8.
x 2 y − x(2 + x)y + (2 + x 2 )y = 0 y + 4x y + 6y = 0 2x(x + 2)y + y − x y = 0 (x + 1)2 y + 3(x 2 − 1)y + 3y = 0
In each of Problems 13 through 17: (a) Show that x = 0 is a regular singular point of the given differential equation. (b) Find the exponents at the singular point x = 0.
279
5.7 Series Solutions near a Regular Singular Point, Part II
13. 14. 15. 16. 17. 18.
(c) Find the first three nonzero terms in each of two linearly independent solutions about x = 0. x y + y − y = 0 x y + 2x y + 6e x y = 0; see Problem 1 x(x − 1)y + 6x 2 y + 3y = 0; see Problem 3 x y + y = 0 x 2 y + (sin x)y − (cos x)y = 0 Show that (ln x)y + 12 y + y = 0 has a regular singular point at x = 1. Determine the roots of the indicial equation at x = 1. ∞ Determine the first three nonzero terms in the series an (x − 1)r +n corresponding to the n=0
larger root. Take x − 1 > 0. What would you expect the radius of convergence of the series to be? 19. In several problems in mathematical physics (for example, the Schr¨odinger equation for a hydrogen atom) it is necessary to study the differential equation x(1 − x)y + [γ − (1 + α + β)x]y − αβy = 0,
(i)
where α, β, and γ are constants. This equation is known as the hypergeometric equation. (a) Show that x = 0 is a regular singular point, and that the roots of the indicial equation are 0 and 1 − γ . (b) Show that x = 1 is a regular singular point, and that the roots of the indicial equation are 0 and γ − α − β. (c) Assuming that 1 − γ is not a positive integer, show that in the neighborhood of x = 0 one solution of (i) is y1 (x) = 1 +
αβ α(α + 1)β(β + 1) 2 x+ x + ···. γ · 1! γ (γ + 1)2!
What would you expect the radius of convergence of this series to be? (d) Assuming that 1 − γ is not an integer or zero, show that a second solution for 0 < x < 1 is
(α − γ + 1)(β − γ + 1) y2 (x) = x 1−γ 1 + x (2 − γ )1! (α − γ + 1)(α − γ + 2)(β − γ + 1)(β − γ + 2) 2 + x + ··· . (2 − γ )(3 − γ )2! (e) Show that the point at infinity is a regular singular point, and that the roots of the indicial equation are α and β. See Problem 21 of Section 5.4. 20. Consider the differential equation x 3 y + αx y + βy = 0, where α and β are real constants and α = 0. (a) Show that x = 0 is an irregular singular point. (b) By attempting to determine a solution of the form
∞ n=0
an x r +n , show that the indicial
equation for r is linear, and consequently there is only one formal solution of the assumed form. (c) Show that if β/α = −1, 0, 1, 2, . . . , then the formal series solution terminates and therefore is an actual solution. For other values of β/α show that the formal series solution has a zero radius of convergence, and so does not represent an actual solution in any interval.
280
Chapter 5. Series Solutions of Second Order Linear Equations
21. Consider the differential equation y +
α β s y + t y = 0, x x
(i)
where α = 0 and β = 0 are real numbers, and s and t are positive integers that for the moment are arbitrary. (a) Show that if s > 1 or t > 2, then the point x = 0 is an irregular singular point. (b) Try to find a solution of Eq. (i) of the form y=
∞
an x r +n ,
x > 0.
(ii)
n=0
Show that if s = 2 and t = 2, then there is only one possible value of r for which there is a formal solution of Eq. (i) of the form (ii). (c) Show that if s = 1 and t = 3, then there are no solutions of Eq. (i) of the form (ii). (d) Show that the maximum values of s and t for which the indicial equation is quadratic in r [and hence we can hope to find two solutions of the form (ii)] are s = 1 and t = 2. These are precisely the conditions that distinguish a “weak singularity,” or a regular singular point, from an irregular singular point, as we defined them in Section 5.4. As a note of caution we should point out that while it is sometimes possible to obtain a formal series solution of the form (ii) at an irregular singular point, the series may not have a positive radius of convergence. See Problem 20 for an example.
5.8 Bessel’s Equation In this section we consider three special cases of Bessel’s12 equation, x 2 y + x y + (x 2 − ν 2 )y = 0,
ODE
(1)
where ν is a constant, which illustrate the theory discussed in Section 5.7. It is easy to show that x = 0 is a regular singular point. For simplicity we consider only the case x > 0. Bessel Equation of Order Zero. This example illustrates the situation in which the roots of the indicial equation are equal. Setting ν = 0 in Eq. (1) gives L[y] = x 2 y + x y + x 2 y = 0.
(2)
Substituting y = φ(r, x) = a0 x r +
∞
an x r +n ,
(3)
n=1 12 Friedrich Wilhelm Bessel (1784 –1846) embarked on a career in business as a youth, but soon became interested in astronomy and mathematics. He was appointed director of the observatory at K¨onigsberg in 1810 and held this position until his death. His study of planetary perturbations led him in 1824 to make the first systematic analysis of the solutions, known as Bessel functions, of Eq. (1). He is also famous for making the first accurate determination (1838) of the distance from the earth to a star.
281
5.8 Bessel’s Equation
we obtain L[φ](r, x) =
∞
an [(r + n)(r + n − 1) + (r + n)]x r +n +
n=0
∞
an x r +n+2
n=0
= a0 [r (r − 1) + r ]x r + a1 [(r + 1)r + (r + 1)]x r +1 ∞ + {an [(r + n)(r + n − 1) + (r + n)] + an−2 }x r +n = 0.
(4)
n=2
The roots of the indicial equation F(r ) = r (r − 1) + r = 0 are r1 = 0 and r2 = 0; hence we have the case of equal roots. The recurrence relation is an (r ) = −
a (r ) an−2 (r ) = − n−2 2 , (r + n)(r + n − 1) + (r + n) (r + n)
n ≥ 2.
(5)
To determine y1 (x) we set r equal to 0. Then from Eq. (4) it follows that for the coefficient of x r +1 to be zero we must choose a1 = 0. Hence from Eq. (5), a3 = a5 = a7 = · · · = 0. Further, an (0) = −an−2 (0)/n 2 ,
n = 2, 4, 6, 8, . . . ,
or letting n = 2m, we obtain a2m (0) = −a2m−2 (0)/(2m)2 ,
m = 1, 2, 3, . . . .
Thus a2 (0) = −
a0 2
2
,
a4 (0) =
a0 4 2
22
,
a6 (0) = −
a0 2 (3 · 2)2 6
,
and, in general, a2m (0) = Hence
(−1)m a0 22m (m!)2
y1 (x) = a0 1 +
,
m = 1, 2, 3, . . . .
∞ (−1)m x 2m m=1
22m (m!)2
(6)
,
x > 0.
(7)
The function in brackets is known as the Bessel function of the first kind of order zero and is denoted by J0 (x). It follows from Theorem 5.7.1 that the series converges for all x, and that J0 is analytic at x = 0. Some of the important properties of J0 are discussed in the problems. Figure 5.8.1 shows the graphs of y = J0 (x) and some of the partial sums of the series (7). To determine y2 (x) we will calculate an (0). The alternative procedure in which we simply substitute the form (23) of Section 5.7 in Eq. (2) and then determine the bn is discussed in Problem 10. First we note from the coefficient of x r +1 in Eq. (4) that (r + 1)2 a1 (r ) = 0. It follows that not only does a1 (0) = 0 but also a1 (0) = 0. It is (0) = easy to deduce from the recurrence relation (5) that a3 (0) = a5 (0) = · · · = a2n+1 · · · = 0; hence we need only compute a2m (0), m = 1, 2, 3, . . . . From Eq. (5) we have a2m (r ) = −a2m−2 (r )/(r + 2m)2 ,
m = 1, 2, 3, . . . .
282
Chapter 5. Series Solutions of Second Order Linear Equations y n = 4 n = 8 n = 12
2
n = 16 n = 20
1
4
2
6
8
10
x
y = J0(x) –1 n=2
n=6
n = 10
n = 14
n = 18
FIGURE 5.8.1 Polynomial approximations to J0 (x). The value of n is the degree of the approximating polynomial.
By solving this recurrence relation we obtain a2m (r ) =
(−1)m a0 (r + 2)2 (r + 4)2 · · · (r + 2m − 2)2 (r + 2m)2
,
m = 1, 2, 3, . . . .
(8)
(r ) can be carried out most conveniently by noting that if The computation of a2m
f (x) = (x − α1 )β1 (x − α2 )β2 (x − α3 )β3 · · · (x − αn )βn , and if x is not equal to α1 , α2 , . . . , αn , then βn β1 β2 f (x) = + + ··· + . f (x) x − α1 x − α2 x − αn Applying this result to a2m (r ) from Eq. (8) we find that a2m 1 1 1 (r ) = −2 + + ··· + , a2m (r ) r +2 r +4 r + 2m and, setting r equal to 0, we obtain
1 1 1 + + ··· + a (0). a2m (0) = −2 2 4 2m 2m Substituting for a2m (0) from Eq. (6), and letting Hm = 1 +
1 1 1 + + ··· + , 2 3 m
we obtain, finally, a2m (0) = −Hm
(−1)m a0 22m (m!)2
,
m = 1, 2, 3, . . . .
(9)
283
5.8 Bessel’s Equation
The second solution of the Bessel equation of order zero is found by setting a0 = 1 and substituting for y1 (x) and a2m (0) = b2m (0) in Eq. (23) of Section 5.7. We obtain y2 (x) = J0 (x) ln x +
∞ (−1)m+1 H
m
m=1
22m (m!)2
x 2m ,
x > 0.
(10)
Instead of y2 , the second solution is usually taken to be a certain linear combination of J0 and y2 . It is known as the Bessel function of the second kind of order zero and is denoted by Y0 . Following Copson (Chapter 12), we define13 2 [y (x) + (γ − ln 2)J0 (x)]. (11) π 2 Here γ is a constant, known as the Euler–Ma´scheroni (1750–1800) constant; it is defined by the equation ∼ 0.5772. (12) γ = lim (Hn − ln n) = Y0 (x) =
n→∞
Substituting for y2 (x) in Eq. (11), we obtain ∞ (−1)m+1 Hm 2m x 2 γ + ln J (x) + , x Y0 (x) = 2m 2 π 2 0 m=1 2 (m!)
x > 0.
(13)
The general solution of the Bessel equation of order zero for x > 0 is y = c1 J0 (x) + c2 Y0 (x). Note that J0 (x) → 1 as x → 0 and that Y0 (x) has a logarithmic singularity at x = 0; that is, Y0 (x) behaves as (2/π) ln x when x → 0 through positive values. Thus if we are interested in solutions of Bessel’s equation of order zero that are finite at the origin, which is often the case, we must discard Y0 . The graphs of the functions J0 and Y0 are shown in Figure 5.8.2. It is interesting to note from Figure 5.8.2 that for x large both J0 (x) and Y0 (x) are oscillatory. Such a behavior might be anticipated from the original equation; indeed it y 1
y = J0(x)
0.5
y = Y0(x)
2
4
6
8
10
12
14
x
–0.5
FIGURE 5.8.2 The Bessel functions of order zero. 13 Other authors use other definitions for Y0 . The present choice for Y0 is also known as the Weber (1842–1913) function.
284
Chapter 5. Series Solutions of Second Order Linear Equations
is true for the solutions of the Bessel equation of order ν. If we divide Eq. (1) by x 2 , we obtain 1 ν2 y + y + 1 − 2 y = 0. x x For x very large it is reasonable to suspect that the terms (1/x)y and (ν 2 /x 2 )y are small and hence can be neglected. If this is true, then the Bessel equation of order ν can be approximated by y + y = 0. The solutions of this equation are sin x and cos x; thus we might anticipate that the solutions of Bessel’s equation for large x are similar to linear combinations of sin x and cos x. This is correct insofar as the Bessel functions are oscillatory; however, it is only partly correct. For x large the functions J0 and Y0 also decay as x increases; thus the equation y + y = 0 does not provide an adequate approximation to the Bessel equation for large x, and a more delicate analysis is required. In fact, it is possible to show that J0 (x) ∼ = and that Y0 (x) ∼ =
2 πx
2 πx
1/2
1/2
π cos x − 4
as
x → ∞,
(14)
π sin x − 4
as
x → ∞.
(15)
These asymptotic approximations, as x → ∞, are actually very good. For example, Figure 5.8.3 shows that the asymptotic approximation (14) to J0 (x) is reasonably accurate for all x ≥ 1. Thus to approximate J0 (x) over the entire range from zero to infinity, one can use two or three terms of the series (7) for x ≤ 1 and the asymptotic approximation (14) for x ≥ 1. y 2 1/2
Asymptotic approximation: y = (2/π x)
cos(x – π /4)
1 y = J0(x)
2
4
6
8
10
–1
FIGURE 5.8.3 Asymptotic approximation to J0 (x).
x
285
5.8 Bessel’s Equation
Bessel Equation of Order One-Half. This example illustrates the situation in which the roots of the indicial equation differ by a positive integer, but there is no logarithmic term in the second solution. Setting ν = 12 in Eq. (1) gives (16) L[y] = x 2 y + x y + x 2 − 14 y = 0. If we substitute the series (3) for y = φ(r, x), we obtain L[φ](r, x) =
∞
(r + n)(r + n − 1) + (r + n) −
1 4
an x r +n +
n=0
= (r 2 − 14 )a0 x r + (r + 1)2 − 14 a1 x r +1 ∞ + (r + n)2 − 14 an + an−2 x r +n = 0.
∞
an x r +n+2
n=0
(17)
n=2
The roots of the indicial equation are r1 = 12 , r2 = − 12 ; hence the roots differ by an integer. The recurrence relation is n ≥ 2. (18) (r + n)2 − 14 an = −an−2 , Corresponding to the larger root r1 = 12 we find from the coefficient of x r +1 in Eq. (17) that a1 = 0. Hence, from Eq. (18), a3 = a5 = · · · = a2n+1 = · · · = 0. Further, for r = 12 , an = −
an−2 , n(n + 1)
n = 2, 4, 6 . . . ,
or letting n = 2m, we obtain a2m = −
a2m−2 , 2m(2m + 1)
m = 1, 2, 3, . . . .
By solving this recurrence relation we find that a2 = −
a0 , 3!
a4 =
a0 ,... 5!
and, in general, a2m =
(−1)m a0 , (2m + 1)!
m = 1, 2, 3, . . . .
Hence, taking a0 = 1, we obtain ∞ ∞ (−1)m x 2m (−1)m x 2m+1 1/2 = x −1/2 , 1+ y1 (x) = x (2m + 1)! (2m + 1)! m=1 m=0
x > 0.
(19)
The power series in Eq. (19) is precisely the Taylor series for sin x; hence one solution of the Bessel equation of order one-half is x −1/2 sin x. The Bessel function of the first kind of order one-half, J1/2 , is defined as (2/π)1/2 y1 . Thus J1/2 (x) =
2 πx
1/2 sin x,
x > 0.
(20)
286
Chapter 5. Series Solutions of Second Order Linear Equations
Corresponding to the root r2 = − 12 it is possible that we may have difficulty in computing a1 since N = r1 − r2 = 1. However, from Eq. (17) for r = − 12 the coefficients of x r and x r +1 are both zero regardless of the choice of a0 and a1 . Hence a0 and a1 can be chosen arbitrarily. From the recurrence relation (18) we obtain a set of even-numbered coefficients corresponding to a0 and a set of odd-numbered coefficients corresponding to a1 . Thus no logarithmic term is needed to obtain a second solution in this case. It is left as an exercise to show that, for r = − 12 , a2n =
(−1)n a0 , (2n)!
a2n+1 =
(−1)n a1 , (2n + 1)!
n = 1, 2, . . . .
Hence y2 (x) = x −1/2 a0
∞ (−1)n x 2n
(2n)!
n=0
= a0
+ a1
∞ (−1)n x 2n+1 n=0
cos x sin x + a1 1/2 , 1/2 x x
(2n + 1)!
x > 0.
(21)
The constant a1 simply introduces a multiple of y1 (x). The second linearly independent solution of the Bessel equation of order one-half is usually taken to be the solution for which a0 = (2/π)1/2 and a1 = 0. It is denoted by J−1/2 . Then J−1/2 (x) =
2 πx
1/2 x > 0.
cos x,
(22)
The general solution of Eq. (16) is y = c1 J1/2 (x) + c2 J−1/2 (x). By comparing Eqs. (20) and (22) with Eqs. (14) and (15) we see that, except for a phase shift of π/4, the functions J−1/2 and J1/2 resemble J0 and Y0 , respectively, for large x. The graphs of J1/2 and J−1/2 are shown in Figure 5.8.4.
y 1 J–1/2(x) 0.5
J1/2(x)
2
4
6
8
10
12
14
–0.5
FIGURE 5.8.4 The Bessel functions J1/2 and J−1/2 .
x
287
5.8 Bessel’s Equation
Bessel Equation of Order One. This example illustrates the situation in which the roots of the indicial equation differ by a positive integer and the second solution involves a logarithmic term. Setting ν = 1 in Eq. (1) gives L[y] = x 2 y + x y + (x 2 − 1)y = 0.
(23)
If we substitute the series (3) for y = φ(r, x) and collect terms as in the preceding cases, we obtain L[φ](r, x) = a0 (r 2 − 1)x r + a1 [(r + 1)2 − 1]x r +1 ∞ + {[(r + n)2 − 1]an + an−2 }x r +n = 0.
(24)
n=2
The roots of the indicial equation are r1 = 1 and r2 = −1. The recurrence relation is [(r + n)2 − 1]an (r ) = −an−2 (r ),
n ≥ 2.
(25)
Corresponding to the larger root r = 1 the recurrence relation becomes a an = − n−2 , n = 2, 3, 4, . . . . (n + 2)n We also find from the coefficient of x r +1 in Eq. (24) that a1 = 0; hence from the recurrence relation a3 = a5 = · · · = 0. For even values of n, let n = 2m; then a2m = −
a a2m−2 = − 2 2m−2 , (2m + 2)(2m) 2 (m + 1)m
m = 1, 2, 3, . . . .
By solving this recurrence relation we obtain a2m =
(−1)m a0 22m (m + 1)!m!
,
m = 1, 2, 3, . . . .
(26)
The Bessel function of the first kind of order one, denoted by J1 , is obtained by choosing a0 = 1/2. Hence J1 (x) =
∞ x (−1)m x 2m . 2m 2 m=0 2 (m + 1)!m!
(27)
The series converges absolutely for all x, so the function J1 is analytic everywhere. In determining a second solution of Bessel’s equation of order one, we illustrate the method of direct substitution. The calculation of the general term in Eq. (28) below is rather complicated, but the first few coefficients can be found fairly easily. According to Theorem 5.7.1 we assume that ∞ x > 0. (28) cn x n , y2 (x) = a J1 (x) ln x + x −1 1 + n=1
y2 (x),
y2 (x),
Computing substituting in Eq. (23), and making use of the fact that J1 is a solution of Eq. (23) give 2ax J1 (x) +
∞ n=0
[(n − 1)(n − 2)cn + (n − 1)cn − cn ]x n−1 +
∞ n=0
cn x n+1 = 0,
(29)
288
Chapter 5. Series Solutions of Second Order Linear Equations
where c0 = 1. Substituting for J1 (x) from Eq. (27), shifting the indices of summation in the two series, and carrying out several steps of algebra give −c1 + [0 · c2 + c0 ]x +
∞
[(n 2 − 1)cn+1 + cn−1 ]x n
n=2
(−1)m (2m + 1)x 2m+1 . = −a x + 22m (m + 1)! m! m=1
∞
(30)
From Eq. (30) we observe first that c1 = 0, and a = −c0 = −1. Further, since there are only odd powers of x on the right, the coefficient of each even power of x on the left must be zero. Thus, since c1 = 0, we have c3 = c5 = · · · = 0. Corresponding to the odd powers of x we obtain the recurrence relation [let n = 2m + 1 in the series on the left side of Eq. (30)] [(2m + 1)2 − 1]c2m+2 + c2m =
(−1)m (2m + 1) , 22m (m + 1)! m!
m = 1, 2, 3, . . . .
(31)
When we set m = 1 in Eq. (31), we obtain (32 − 1)c4 + c2 = (−1)3/(22 · 2!). Notice that c2 can be selected arbitrarily, and then this equation determines c4 . Also notice that in the equation for the coefficient of x, c2 appeared multiplied by 0, and that equation was used to determine a. That c2 is arbitrary is not surprising, since c2 ∞ is the coefficient of x in the expression x −1 [1 + cn x n ]. Consequently, c2 simply n=1
generates a multiple of J1 , and y2 is only determined up to an additive multiple of J1 . In accord with the usual practice we choose c2 = 1/22 . Then we obtain
1 −1 3 −1 1+ c4 = 4 +1 = 4 +1 2 2 ·2 2 2 2! (−1) (H + H1 ). = 4 2 · 2! 2 It is possible to show that the solution of the recurrence relation (31) is c2m =
(−1)m+1 (Hm + Hm−1 ) 22m m!(m − 1)!
,
m = 1, 2, . . .
with the understanding that H0 = 0. Thus ∞ (−1)m (Hm + Hm−1 ) 2m 1 1− y2 (x) = −J1 (x) ln x + x , x 22m m!(m − 1)! m=1
x > 0.
(32)
The calculation of y2 (x) using the alternative procedure [see Eqs. (19) and (20) of Section 5.7] in which we determine the cn (r2 ) is slightly easier. In particular the latter procedure yields the general formula for c2m without the necessity of solving a recurrence relation of the form (31) (see Problem 11). In this regard the reader may also wish to compare the calculations of the second solution of Bessel’s equation of order zero in the text and in Problem 10.
289
5.8 Bessel’s Equation
The second solution of Eq. (23), the Bessel function of the second kind of order one, Y1 , is usually taken to be a certain linear combination of J1 and y2 . Following Copson (Chapter 12), Y1 is defined as 2 [−y2 (x) + (γ − ln 2)J1 (x)], π where γ is defined in Eq. (12). The general solution of Eq. (23) for x > 0 is Y1 (x) =
(33)
y = c1 J1 (x) + c2 Y1 (x). Notice that while J1 is analytic at x = 0, the second solution Y1 becomes unbounded in the same manner as 1/x as x → 0. The graphs of J1 and Y1 are shown in Figure 5.8.5. y 1 y = J1(x) 0.5
y = Y1(x)
2
4
6
8
10
12
14
x
–0.5
FIGURE 5.8.5 The Bessel functions J1 and Y1 .
PROBLEMS
In each of Problems 1 through 4 show that the given differential equation has a regular singular point at x = 0, and determine two linearly independent solutions for x > 0. 2. x 2 y + 3x y + (1 + x)y = 0 1. x 2 y + 2x y + x y = 0 3. x 2 y + x y + 2x y = 0 4. x 2 y + 4x y + (2 + x)y = 0 5. Find two linearly independent solutions of the Bessel equation of order 32 , x 2 y + x y + (x 2 − 94 )y = 0,
x > 0.
6. Show that the Bessel equation of order one-half, x 2 y + x y + (x 2 − 14 )y = 0,
x > 0,
can be reduced to the equation v + v = 0 by the change of dependent variable y = x −1/2 v(x). From this conclude that y1 (x) = x −1/2 cos x and y2 (x) = x −1/2 sin x are solutions of the Bessel equation of order one-half. 7. Show directly that the series for J0 (x), Eq. (7), converges absolutely for all x. 8. Show directly that the series for J1 (x), Eq. (27), converges absolutely for all x and that J0 (x) = −J1 (x).
290
Chapter 5. Series Solutions of Second Order Linear Equations
9. Consider the Bessel equation of order ν, x 2 y + x y + (x 2 − ν 2 ) = 0,
x > 0.
Take ν real and greater than zero. (a) Show that x = 0 is a regular singular point, and that the roots of the indicial equation are ν and −ν. (b) Corresponding to the larger root ν, show that one solution is ∞ x 2m (−1)m ν y1 (x) = x 1 + . m!(1 + ν)(2 + ν) · · · (m − 1 + ν)(m + ν) 2 m=1 (c) If 2ν is not an integer, show that a second solution is ∞ x 2m (−1)m −ν 1+ . y2 (x) = x m!(1 − ν)(2 − ν) · · · (m − 1 − ν)(m − ν) 2 m=1 Note that y1 (x) → 0 as x → 0, and that y2 (x) is unbounded as x → 0. (d) Verify by direct methods that the power series in the expressions for y1 (x) and y2 (x) converge absolutely for all x. Also verify that y2 is a solution provided only that ν is not an integer. 10. In this section we showed that one solution of Bessel’s equation of order zero, L[y] = x 2 y + x y + x 2 y = 0, is J0 , where J0 (x) is given by Eq. (7) with a0 = 1. According to Theorem 5.7.1 a second solution has the form (x > 0) y2 (x) = J0 (x) ln x +
∞
bn x n .
n=1
(a) Show that L[y2 ](x) =
∞
n(n − 1)bn x n +
n=2
∞
nbn x n +
n=1
∞
bn x n+2 + 2x J0 (x).
(i)
n=1
(b) Substituting the series representation for J0 (x) in Eq. (i), show that b1 x + 22 b2 x 2 +
∞
(n 2 bn + bn−2 )x n = −2
n=3
∞ (−1)n 2nx 2n
22n (n!)2
n=1
.
(ii)
(c) Note that only even powers of x appear on the right side of Eq. (ii). Show that b1 = b3 = b5 = · · · = 0, b2 = 1/22 (1!)2 , and that (2n)2 b2n + b2n−2 = −2(−1)n (2n)/22n (n!)2 , Deduce that b4 = −
1 22 42
1+
1 2
and
b6 =
1 22 42 62
n = 2, 3, 4, . . . . 1+
1 1 + . 2 3
The general solution of the recurrence relation is b2n = (−1)n+1 Hn /22n (n!)2 . Substituting for bn in the expression for y2 (x) we obtain the solution given in Eq. (10). 11. Find a second solution of Bessel’s equation of order one by computing the cn (r2 ) and a of Eq. (24) of Section 5.7 according to the formulas (19) and (20) of that section. Some guidelines along the way of this calculation are the following. First, use Eq. (24) of this
291
5.8 Bessel’s Equation
section to show that a1 (−1) and a1 (−1) are 0. Then show that c1 (−1) = 0 and, from the recurrence relation, that cn (−1) = 0 for n = 3, 5, . . . . Finally, use Eq. (25) to show that a2m (r ) =
(−1)m a0 (r + 1)(r + 3) · · · (r + 2m − 1)2 (r + 2m + 1) 2
,
for m = 1, 2, 3, . . . , and calculate c2m (−1) = (−1)m+1 (Hm + Hm−1 )/22m m!(m − 1)!. 12. By a suitable change of variables it is sometimes possible to transform another differential equation into a Bessel equation. For example, show that a solution of x 2 y + (α 2 β 2 x 2β +
1 4
− ν 2 β 2 )y = 0,
x >0
is given by y = x 1/2 f (αx β ) where f (ξ ) is a solution of the Bessel equation of order ν. 13. Using the result of Problem 12 show that the general solution of the Airy equation y − x y = 0,
x >0
is y = x 1/2 [c1 f 1 ( 23 i x 3/2 ) + c2 f 2 ( 23 i x 3/2 )] where f 1 (ξ ) and f 2 (ξ ) are linearly independent solutions of the Bessel equation of order one-third. 14. It can be shown that J0 has infinitely many zeros for x > 0. In particular, the first three zeros are approximately 2.405, 5.520, and 8.653 (see Figure 5.8.1). Let λ j , j = 1, 2, 3, . . . , denote the zeros of J0 ; it follows that 1, x = 0, J0 (λ j x) = 0, x = 1. Verify that y = J0 (λ j x) satisfies the differential equation y + Hence show that
0
1
1 y + λ2j y = 0, x
x J0 (λi x)J0 (λ j x) d x = 0
x > 0.
if
λi = λ j .
This important property of J0 (λi x), known as the orthogonality property, is useful in solving boundary value problems. Hint: Write the differential equation for J0 (λi x). Multiply it by x J0 (λ j x) and subtract it from x J0 (λi x) times the differential equation for J0 (λ j x). Then integrate from 0 to 1.
REFERENCES Coddington, E. A., An Introduction to Ordinary Differential Equations (Englewood Cliffs, NJ: Prentice Hall, 1961; New York: Dover, 1989). Copson, E. T., An Introduction to the Theory of Functions of a Complex Variable (Oxford: Oxford University, 1935). Proofs of Theorems 5.3.1 and 5.7.1 can be found in intermediate or advanced books; for example, see Chapters 3 and 4 of Coddington, or Chapters 3 and 4 of:
Rainville, E. D., Intermediate Differential Equations (2nd ed.) (New York: Macmillan, 1964). Also see these texts for a discussion of the point at infinity, which was mentioned in Problem 21 of Section 5.4. The behavior of solutions near an irregular singular point is an even more advanced topic; a brief discussion can be found in Chapter 5 of:
292
Chapter 5. Series Solutions of Second Order Linear Equations Coddington, E. A., and Levinson, N., Theory of Ordinary Differential Equations (New York: McGrawHill, 1955). More complete discussions of the Bessel equation, the Legendre equation, and many of the other named equations can be found in advanced books on differential equations, methods of applied mathematics, and special functions. A text dealing with special functions such as the Legendre polynomials and the Bessel functions is:
Hochstadt, H., Special Functions of Mathematical Physics (New York: Holt, 1961). An excellent compilation of formulas, graphs, and tables of Bessel functions, Legendre functions, and other special functions of mathematical physics may be found in:
Abramowitz, M., and Stegun, I. A. (eds.), Handbook of Mathematical Functions (New York: Dover, 1965); originally published by the National Bureau of Standards, Washington, DC, 1964.
CHAPTER
6
The Laplace Transform
Many practical engineering problems involve mechanical or electrical systems acted on by discontinuous or impulsive forcing terms. For such problems the methods described in Chapter 3 are often rather awkward to use. Another method that is especially well suited to these problems, although useful much more generally, is based on the Laplace transform. In this chapter we describe how this important method works, emphasizing problems typical of those arising in engineering applications.
6.1 Definition of the Laplace Transform Among the tools that are very useful for solving linear differential equations are integral transforms. An integral transform is a relation of the form β K (s, t) f (t) dt, (1) F(s) = α
where K (s, t) is a given function, called the kernel of the transformation, and the limits of integration α and β are also given. It is possible that α = −∞ or β = ∞, or both. The relation (1) transforms the function f into another function F, which is called the transform of f . The general idea in using an integral transform to solve a differential equation is as follows: Use the relation (1) to transform a problem for an unknown function f into a simpler problem for F, then solve this simpler problem to find F, and finally recover the desired function f from its transform F. This last step is known as “inverting the transform.”
293
294
Chapter 6. The Laplace Transform
There are several integral transforms that are useful in applied mathematics, but in this chapter we consider only the Laplace1 transform. This transform is defined in the following way. Let f (t) be given for t ≥ 0, and suppose that f satisfies certain conditions to be stated a little later. Then the Laplace transform of f , which we will denote by L{ f (t)} or by F(s), is defined by the equation ∞ e−st f (t) dt. (2) L{ f (t)} = F(s) = 0
The Laplace transform makes use of the kernel K (s, t) = e−st . Since the solutions of linear differential equations with constant coefficients are based on the exponential function, the Laplace transform is particularly useful for such equations. Since the Laplace transform is defined by an integral over the range from zero to infinity, it is useful to review some basic facts about such integrals. In the first place, an integral over an unbounded interval is called an improper integral, and is defined as a limit of integrals over finite intervals; thus A ∞ f (t) dt = lim f (t) dt, (3) A→∞ a
a
where A is a positive real number. If the integral from a to A exists for each A > a, and if the limit as A → ∞ exists, then the improper integral is said to converge to that limiting value. Otherwise the integral is said to diverge, or to fail to exist. The following examples illustrate both possibilities.
EXAMPLE
1
Let f (t) = ect , t ≥ 0, where c is a real nonzero constant. Then A ∞ ect A ct ct e dt = lim e dt = lim A→∞ 0 A→∞ c 0 0 1 = lim (ec A − 1). A→∞ c It follows that the improper integral converges if c < 0, and diverges if c > 0. If c = 0, the integrand f (t) is the constant function with value 1, and the integral again diverges.
EXAMPLE
2
Let f (t) = 1/t, t ≥ 1. Then ∞ 1
dt = lim A→∞ t
1
A
dt = lim ln A. A→∞ t
Since lim ln A = ∞, the improper integral diverges. A→∞
1
The Laplace transform is named for the eminent French mathematician P. S. Laplace, who studied the relation (2) in 1782. However, the techniques described in this chapter were not developed until a century or more later. They are due mainly to Oliver Heaviside (1850 –1925), an innovative but unconventional English electrical engineer, who made significant contributions to the development and application of electromagnetic theory.
295
6.1 Definition of the Laplace Transform
EXAMPLE
3
Let f (t) = t − p , t ≥ 1, where p is a real constant and p = 1; the case p = 1 was considered in Example 2. Then ∞ A 1 ( A1− p − 1). t − p dt = lim t − p dt = lim A→∞ A→∞ 1 − p 1 1 ∞ 1− p 1− p As A → ∞, A → 0 if p > 1, but A → ∞ if p < 1. Hence t − p dt con1
verges for p > 1, but (incorporating the result of Example 2) diverges for p ≤ 1. These ∞ n− p . results are analogous to those for the infinite series n=1
∞
f (t) dt, it is helpful to define certain Before discussing the possible existence of a terms. A function f is said to be piecewise continuous on an interval α ≤ t ≤ β if the interval can be partitioned by a finite number of points α = t0 < t1 < · · · < tn = β so that f is continuous on each open subinterval ti−1 < t < ti . f approaches a finite limit as the endpoints of each subinterval are approached from within the subinterval.
1. 2.
In other words, f is piecewise continuous on α ≤ t ≤ β if it is continuous there except for a finite number of jump discontinuities. If f is piecewise continuous on α ≤ t ≤ β for every β > α, then f is said to be piecewise continuous on t ≥ α. An example of a piecewise continuous function is shown in Figure 6.1.1. If f is piecewise continuous on the interval a ≤ t ≤ A, then it can be shown that A
a
f (t) dt exists. Hence, if f is piecewise continuous for t ≥ a, then
A
a
f (t) dt exists
for each A > a. However, piecewise continuity is not enough to ensure convergence of the improper integral
∞ a
f (t) dt, as the preceding examples show.
If f cannot be easily in terms of elementary functions, the definition of integrated ∞ f (t) dt may be difficult to apply. Frequently, the most convenient convergence of a way to test the convergence or divergence of an improper integral is by the following comparison theorem, which is analogous to a similar theorem for infinite series.
y
α
t1
t2
β
t
FIGURE 6.1.1 A piecewise continuous function.
296 Theorem 6.1.1
Chapter 6. The Laplace Transform
If f is piecewise continuous ∞ for t ≥ a, if | f (t)| ≤ g(t) ∞when t ≥ M for some positive g(t) dt converges, then f (t) dt also converges. On constant M, and if M
a
the other hand, if f (t) ≥ g(t) ≥ 0 for t ≥ M, and if
∞ a
∞ M
g(t) dt diverges, then
f (t) dt also diverges.
∞
∞
The proof of this result from the calculus will not be given here. It is made plausible, however, by comparing the areas represented by
M ct
g(t) dt and −p
M
| f (t)| dt. The
functions most useful for comparison purposes are e and t , which were considered in Examples 1, 2, and 3. We now return to a consideration of the Laplace transform L{ f (t)} or F(s), which is defined by Eq. (2) whenever this improper integral converges. In general, the parameter s may be complex, but for our discussion we need consider only real values of s. The foregoing discussion of integrals indicates that the Laplace transform F of a function f exists if f satisfies certain conditions, such as those stated in the following theorem.
Theorem 6.1.2
Suppose that 1. 2.
f is piecewise continuous on the interval 0 ≤ t ≤ A for any positive A. | f (t)| ≤ K eat when t ≥ M. In this inequality K , a, and M are real constants, K and M necessarily positive.
Then the Laplace transform L{ f (t)} = F(s), defined by Eq. (2), exists for s > a.
To establish this theorem it is necessary to show only that the integral in Eq. (2) converges for s > a. Splitting the improper integral into two parts, we have M ∞ ∞ e−st f (t) dt = e−st f (t) dt + e−st f (t) dt. (4) 0
0
M
The first integral on the right side of Eq. (4) exists by hypothesis (1) of the theorem; hence the existence of F(s) depends on the convergence of the second integral. By hypothesis (2) we have, for t ≥ M, |e−st f (t)| ≤ K e−st eat = K e(a−s)t ,
∞
e(a−s)t dt converges. Referand thus, by Theorem 6.1.1, F(s) exists provided that M ring to Example 1 with c replaced by a − s, we see that this latter integral converges when a − s < 0, which establishes Theorem 6.1.2. Unless the contrary is specifically stated, in this chapter we deal only with functions satisfying the conditions of Theorem 6.1.2. Such functions are described as piecewise continuous, and of exponential order as t → ∞. The Laplace transforms of some important elementary functions are given in the following examples.
297
6.1 Definition of the Laplace Transform
Let f (t) = 1, t ≥ 0. Then
EXAMPLE
L{1} =
4
∞
e−st dt =
0
Let f (t) = eat , t ≥ 0. Then
EXAMPLE
L{eat } =
5
∞
1 , s
e−st eat dt =
0
∞
e−(s−a)t dt
0
1 , = s−a
Let f (t) = sin at, t ≥ 0. Then
s > a.
EXAMPLE
L{sin at} = F(s) =
6
s > 0.
∞
e−st sin at dt,
s > 0.
0
Since
F(s) = lim
A→∞ 0
A
e−st sin at dt,
upon integrating by parts we obtain e−st cos at A s A −st e cos at dt F(s) = lim − −a A→∞ a 0 0 s ∞ −st 1 e cos at dt. = − a a 0 A second integration by parts then yields
s 2 ∞ −st 1 e sin at dt − 2 a a 0 s2 1 = − 2 F(s). a a Hence, solving for F(s), we have a , s > 0. F(s) = 2 s + a2 F(s) =
Now let us suppose that f 1 and f 2 are two functions whose Laplace transforms exist for s > a1 and s > a2 , respectively. Then, for s greater than the maximum of a1 and a2 , ∞ L{c1 f 1 (t) + c2 f 2 (t)} = e−st [c1 f 1 (t) + c2 f 2 (t)] dt 0 ∞ ∞ −st e f 1 (t) dt + c2 e−st f 2 (t) dt; = c1 0
0
298
Chapter 6. The Laplace Transform
hence L{c1 f 1 (t) + c2 f 2 (t)} = c1 L{ f 1 (t)} + c2 L{ f 2 (t)}.
(5)
Equation (5) is a statement of the fact that the Laplace transform is a linear operator. This property is of paramount importance, and we make frequent use of it later.
PROBLEMS
In each of Problems 1 through 4 sketch the graph of the given function. In each case determine whether f is continuous, piecewise continuous, or neither on the interval 0 ≤ t ≤ 3. t 2, t 2, 0≤t ≤1 0≤t ≤1 1. f (t) = 2. f (t) = 2 + t, 1
8. sinh bt 10. eat sinh bt
In each of Problems 11 through 14 recall that cos bt = (eibt + e−ibt )/2 and sin bt = (eibt − e−ibt )/2i. Assuming that the necessary elementary integration formulas extend to this case, find the Laplace transform of the given function; a and b are real constants. 11. sin bt 13. eat sin bt
12. cos bt 14. eat cos bt
In each of Problems 15 through 20, using integration by parts, find the Laplace transform of the given function; n is a positive integer and a is a real constant. 15. teat 18. t n eat
16. t sin at 19. t 2 sin at
17. t cosh at 20. t 2 sinh at
In each of Problems 21 through 24 determine whether the given integral converges or diverges. ∞ ∞ 21. (t 2 + 1)−1 dt 22. te−t dt 0 0 ∞ ∞ t −2 et dt 24. e−t cos t dt 23. 1
0
25. Suppose that f and f are continuous for t ≥ 0, and of exponential order as t → ∞. Show by integration by parts that if F(s) = L{ f (t)}, then lim F(s) = 0. The result is actually s→∞ true under less restrictive conditions, such as those of Theorem 6.1.2. 26. The Gamma Function. The gamma function is denoted by ( p) and is defined by the integral ∞ e−x x p d x. (i)
( p + 1) = 0
299
6.2 Solution of Initial Value Problems
The integral converges as x → ∞ for all p. For p < 0 it is also improper because the integrand becomes unbounded as x → 0. However, the integral can be shown to converge at x = 0 for p > −1. (a) Show that for p > 0
( p + 1) = p ( p). (b) Show that (1) = 1. (c) If p is a positive integer n, show that
(n + 1) = n!. Since ( p) is also defined when p is not an integer, this function provides an extension of the factorial function to nonintegral values of the independent variable. Note that it is also consistent to define 0! = 1. (d) Show that for p > 0 p( p + 1)( p + 2) · · · ( p + n − 1) = ( p + n)/ ( p). Thus ( p) can be determined for all positive values of p if ( p) is known √ in a single interval of unit length, say, 0 < p ≤ 1. It is possible to show that ( 21 ) = π . Find ( 23 ) ). and ( 11 2 27. Consider the Laplace transform of t p , where p > −1. (a) Referring to Problem 26, show that ∞ ∞ 1 e−st t p dt = p+1 e−x x p d x L{t p } = s 0 0 = ( p + 1)/s p+1 , s > 0. (b) Let p be a positive integer n in (a); show that L{t n } = n!/s n+1 , (c) Show that L{t It is possible to show that
−1/2
2 }= √ s
∞
∞
s > 0.
2
e−x d x,
2
e−x d x =
0
hence L{t −1/2 } = (d) Show that L{t 1/2 } =
√
s > 0.
0
π/s, π/2s 3/2 ,
√
π ; 2 s > 0. s > 0.
6.2 Solution of Initial Value Problems In this section we show how the Laplace transform can be used to solve initial value problems for linear differential equations with constant coefficients. The usefulness of the Laplace transform in this connection rests primarily on the fact that the transform
300
Chapter 6. The Laplace Transform
of f is related in a simple way to the transform of f . The relationship is expressed in the following theorem.
Theorem 6.2.1
Suppose that f is continuous and f is piecewise continuous on any interval 0 ≤ t ≤ A. Suppose further that there exist constants K , a, and M such that | f (t)| ≤ K eat for t ≥ M. Then L{ f (t)} exists for s > a, and moreover L{ f (t)} = sL{ f (t)} − f (0).
(1)
To prove this theorem we consider the integral A e−st f (t) dt. 0
If f has points of discontinuity in the interval 0 ≤ t ≤ A, let them be denoted by t1 , t2 , . . . , tn . Then we can write this integral as t t A A 1 2 e−st f (t) dt = e−st f (t) dt + e−st f (t) dt + · · · + e−st f (t) dt. 0
0
t1
tn
Integrating each term on the right by parts yields A t t A 1 2 e−st f (t) dt = e−st f (t) + e−st f (t) + · · · + e−st f (t) tn 0 t1 0 t1
+s 0
e−st f (t) dt +
t2
e−st f (t) dt + · · · +
t1
A
e−st f (t) dt .
tn
Since f is continuous, the contributions of the integrated terms at t1 , t2 , . . . , tn cancel. Combining the integrals gives A A −st −s A e f (t) dt = e f ( A) − f (0) + s e−st f (t) dt. 0
As A → ∞, e
−s A
0
f ( A) → 0 whenever s > a. Hence, for s > a, L{ f (t)} = sL{ f (t)} − f (0),
which establishes the theorem. If f and f satisfy the same conditions that are imposed on f and f , respectively, in Theorem 6.2.1, then it follows that the Laplace transform of f also exists for s > a and is given by L{ f (t)} = s 2 L{ f (t)} − s f (0) − f (0).
(2)
Indeed, provided the function f and its derivatives satisfy suitable conditions, an expression for the transform of the nth derivative f (n) can be derived by successive applications of this theorem. The result is given in the following corollary.
Corollary 6.2.2
Suppose that the functions f, f , . . . , f (n−1) are continuous, and that f (n) is piecewise continuous on any interval 0 ≤ t ≤ A. Suppose further that there exist constants K , a,
301
6.2 Solution of Initial Value Problems
and M such that | f (t)| ≤ K eat , | f (t)| ≤ K eat , . . . , | f (n−1) (t)| ≤ K eat for t ≥ M. Then L{ f (n) (t)} exists for s > a and is given by L{ f (n) (t)} = s n L{ f (t)} − s n−1 f (0) − · · · − s f (n−2) (0) − f (n−1) (0).
(3)
We now show how the Laplace transform can be used to solve initial value problems. It is most useful for problems involving nonhomogeneous differential equations, as we will demonstrate in later sections of this chapter. However, we begin by looking at some homogeneous equations, which are a bit simpler. For example, consider the differential equation y − y − 2y = 0
(4)
and the initial conditions y(0) = 1,
y (0) = 0.
(5)
This problem is easily solved by the methods of Section 3.1. The characteristic equation is r 2 − r − 2 = (r − 2)(r + 1) = 0,
(6)
and consequently the general solution of Eq. (4) is y = c1 e−t + c2 e2t .
(7)
To satisfy the initial conditions (5) we must have c1 + c2 = 1 and −c1 + 2c2 = 0; hence c1 = 23 and c2 = 13 , so that the solution of the initial value problem (4) and (5) is y = φ(t) = 23 e−t + 13 e2t .
(8)
Now let us solve the same problem by using the Laplace transform. To do this we must assume that the problem has a solution y = φ(t), which with its first two derivatives satisfies the conditions of Corollary 6.2.2. Then, taking the Laplace transform of the differential equation (4), we obtain L{y } − L{y } − 2L{y} = 0,
(9)
where we have used the linearity of the transform to write the transform of a sum as the sum of the separate transforms. Upon using the corollary to express L{y } and L{y } in terms of L{y}, we find that Eq. (9) becomes s 2 L{y} − sy(0) − y (0) − [sL{y} − y(0)] − 2L{y} = 0, or (s 2 − s − 2)Y (s) + (1 − s)y(0) − y (0) = 0,
(10)
where Y (s) = L{y}. Substituting for y(0) and y (0) in Eq. (10) from the initial conditions (5), and then solving for Y (s), we obtain s−1 s−1 = . (11) (s − 2)(s + 1) s −s−2 We have thus obtained an expression for the Laplace transform Y (s) of the solution y = φ(t) of the given initial value problem. To determine the function φ we must find the function whose Laplace transform is Y (s), as given by Eq. (11). Y (s) =
2
302
Chapter 6. The Laplace Transform
This can be done most easily by expanding the right side of Eq. (11) in partial fractions. Thus we write s−1 a b a(s + 1) + b(s − 2) Y (s) = = + = , (12) (s − 2)(s + 1) s−2 s+1 (s − 2)(s + 1) where the coefficients a and b are to be determined. By equating numerators of the second and fourth members of Eq. (12), we obtain s − 1 = a(s + 1) + b(s − 2), an equation that must hold for all s. In particular, if we set s = 2, then it follows that a = 13 . Similarly, if we set s = −1, then we find that b = 23 . By substituting these values for a and b, respectively, we have Y (s) =
2/3 1/3 + . s−2 s+1
(13)
Finally, if we use the result of Example 5 of Section 6.1, it follows that 13 e2t has the transform 13 (s − 2)−1 ; similarly, 23 e−t has the transform 23 (s + 1)−1 . Hence, by the linearity of the Laplace transform, y = φ(t) = 13 e2t + 23 e−t has the transform (13) and is therefore the solution of the initial value problem (4), (5). Of course, this is the same solution that we obtained earlier. The same procedure can be applied to the general second order linear equation with constant coefficients, ay + by + cy = f (t).
(14)
Assuming that the solution y = φ(t) satisfies the conditions of Corollary 6.2.2 for n = 2, we can take the transform of Eq. (14) and thereby obtain a[s 2 Y (s) − sy(0) − y (0)] + b[sY (s) − y(0)] + cY (s) = F(s),
(15)
where F(s) is the transform of f (t). By solving Eq. (15) for Y (s) we find that F(s) (as + b)y(0) + ay (0) + 2 . (16) 2 as + bs + c as + bs + c The problem is then solved, provided that we can find the function y = φ(t) whose transform is Y (s). Even at this early stage of our discussion we can point out some of the essential features of the transform method. In the first place, the transform Y (s) of the unknown function y = φ(t) is found by solving an algebraic equation rather than a differential equation, Eq. (10) rather than Eq. (4), or in general Eq. (15) rather than Eq. (14). This is the key to the usefulness of Laplace transforms for solving linear, constant coefficient, ordinary differential equations—the problem is reduced from a differential equation to an algebraic one. Next, the solution satisfying given initial conditions is automatically found, so that the task of determining appropriate values for the arbitrary constants in the general solution does not arise. Further, as indicated in Eq. (15), nonhomogeneous equations are handled in exactly the same way as homogeneous ones; it is not necessary to solve the corresponding homogeneous equation first. Finally, the method can be applied in the same way to higher order equations, as long as we assume that the solution satisfies the conditions of the corollary for the appropriate value of n. Y (s) =
303
6.2 Solution of Initial Value Problems
Observe that the polynomial as 2 + bs + c in the denominator on the right side of Eq. (16) is precisely the characteristic polynomial associated with Eq. (14). Since the use of a partial fraction expansion of Y (s) to determine φ(t) requires us to factor this polynomial, the use of Laplace transforms does not avoid the necessity of finding roots of the characteristic equation. For equations of higher than second order this may be a difficult algebraic problem, particularly if the roots are irrational or complex. The main difficulty that occurs in solving initial value problems by the transform technique lies in the problem of determining the function y = φ(t) corresponding to the transform Y (s). This problem is known as the inversion problem for the Laplace transform; φ(t) is called the inverse transform corresponding to Y (s), and the process of finding φ(t) from Y (s) is known as inverting the transform. We also use the notation L−1 {Y (s)} to denote the inverse transform of Y (s). There is a general formula for the inverse Laplace transform, but its use requires a knowledge of the theory of functions of a complex variable, and we do not consider it in this book. However, it is still possible to develop many important properties of the Laplace transform, and to solve many interesting problems, without the use of complex variables. In solving the initial value problem (4), (5) we did not consider the question of whether there may be functions other than the one given by Eq. (8) that also have the transform (13). In fact, it can be shown that if f is a continuous function with the Laplace transform F, then there is no other continuous function having the same transform. In other words, there is essentially a one-to-one correspondence between functions and their Laplace transforms. This fact suggests the compilation of a table, such as Table 6.2.1, giving the transforms of functions frequently encountered, and vice versa. The entries in the second column of Table 6.2.1 are the transforms of those in the first column. Perhaps more important, the functions in the first column are the inverse transforms of those in the second column. Thus, for example, if the transform of the solution of a differential equation is known, the solution itself can often be found merely by looking it up in the table. Some of the entries in Table 6.2.1 have been used as examples, or appear as problems in Section 6.1, while others will be developed later in the chapter. The third column of the table indicates where the derivation of the given transforms may be found. While Table 6.2.1 is sufficient for the examples and problems in this book, much larger tables are also available (see the list of references at the end of the chapter). Transforms and inverse transforms can also be readily obtained electronically by using a computer algebra system. Frequently, a Laplace transform F(s) is expressible as a sum of several terms, F(s) = F1 (s) + F2 (s) + · · · + Fn (s).
(17)
Suppose that f 1 (t) = L−1 {F1 (s)}, . . . , f n (t) = L−1 {Fn (s)}. Then the function f (t) = f 1 (t) + · · · + f n (t) has the Laplace transform F(s). By the uniqueness property stated previously there is no other continuous function f having the same transform. Thus L−1 {F(s)} = L−1 {F1 (s)} + · · · + L−1 {Fn (s)};
(18)
that is, the inverse Laplace transform is also a linear operator. In many problems it is convenient to make use of this property by decomposing a given transform into a sum of functions whose inverse transforms are already known or can be found in the table. Partial fraction expansions are particularly useful in this
304
Chapter 6. The Laplace Transform
TABLE 6.2.1 Elementary Laplace Transforms f (t) = L−1 {F(s)} 1. 1 2. eat 3. t n ;
n = positive integer
F(s) = L{ f (t)} 1 , s>0 s 1 , s>a s−a n! , s>0 n+1 s
Notes Sec. 6.1; Ex. 4 Sec. 6.1; Ex. 5 Sec. 6.1; Prob. 27
4. t p , p > −1
( p + 1) , s p+1
5. sin at
a , s 2 + a2
s>0
Sec. 6.1; Ex. 6
6. cos at
s , s + a2
s>0
Sec. 6.1; Prob. 6
7. sinh at
a , s 2 − a2
s > |a|
Sec. 6.1; Prob. 8
8. cosh at
s , s − a2
s > |a|
Sec. 6.1; Prob. 7
9. eat sin bt
b , (s − a)2 + b2
s>a
Sec. 6.1; Prob. 13
10. eat cos bt
s−a , (s − a)2 + b2
s>a
Sec. 6.1; Prob. 14
11. t n eat , n = positive integer
n! , (s − a)n+1
12. u c (t)
e−cs , s
13. u c (t) f (t − c)
e−cs F(s)
Sec. 6.3
14. ect f (t)
F(s − c)
Sec. 6.3
15. f (ct)
1 s F , c c
16.
t
f (t − τ )g(τ ) dτ
s>0
2
2
s>a
s>0
c>0
Sec. 6.1; Prob. 27
Sec. 6.1; Prob. 18
Sec. 6.3
Sec. 6.3; Prob. 19
F(s)G(s)
Sec. 6.6
17. δ(t − c)
e−cs
Sec. 6.5
18. f (n) (t)
s n F(s) − s n−1 f (0) − · · · − f (n−1) (0)
Sec. 6.2
19. (−t)n f (t)
F (n) (s)
Sec. 6.2; Prob. 28
0
305
6.2 Solution of Initial Value Problems
connection, and a general result covering many cases is given in Problem 38. Other useful properties of Laplace transforms are derived later in this chapter. As further illustrations of the technique of solving initial value problems by means of the Laplace transform and partial fraction expansions, consider the following examples.
Find the solution of the differential equation EXAMPLE
y + y = sin 2t,
1
(19)
satisfying the initial conditions y(0) = 2,
y (0) = 1.
(20)
We assume that this initial value problem has a solution y = φ(t), which with its first two derivatives satisfies the conditions of Corollary 6.2.2. Then, taking the Laplace transform of the differential equation, we have s 2 Y (s) − sy(0) − y (0) + Y (s) = 2/(s 2 + 4), where the transform of sin 2t has been obtained from line 5 of Table 6.2.1. Substituting for y(0) and y (0) from the initial conditions and solving for Y (s), we obtain Y (s) =
2s 3 + s 2 + 8s + 6 . (s 2 + 1)(s 2 + 4)
(21)
Using partial fractions we can write Y (s) in the form Y (s) =
(as + b)(s 2 + 4) + (cs + d)(s 2 + 1) as + b cs + d + = . s2 + 1 s2 + 4 (s 2 + 1)(s 2 + 4)
(22)
By expanding the numerator on the right side of Eq. (22) and equating it to the numerator in Eq. (21) we find that 2s 3 + s 2 + 8s + 6 = (a + c)s 3 + (b + d)s 2 + (4a + c)s + (4b + d) for all s. Then, comparing coefficients of like powers of s, we have a + c = 2, 4a + c = 8,
b + d = 1, 4b + d = 6.
Consequently, a = 2, c = 0, b = 53 , and d = − 23 , from which it follows that 2s 5/3 2/3 + 2 − 2 . (23) s +1 s +1 s +4 From lines 5 and 6 of Table 6.2.1, the solution of the given initial value problem is Y (s) =
2
y = φ(t) = 2 cos t + 53 sin t − 13 sin 2t.
(24)
Find the solution of the initial value problem EXAMPLE
y iv − y = 0,
2 y(0) = 0,
y (0) = 1,
y (0) = 0,
(25) y (0) = 0.
(26)
306
Chapter 6. The Laplace Transform
In this problem we need to assume that the solution y = φ(t) satisfies the conditions of Corollary 6.2.2 for n = 4. The Laplace transform of the differential equation (25) is s 4 Y (s) − s 3 y(0) − s 2 y (0) − sy (0) − y (0) − Y (s) = 0. Then, using the initial conditions (26) and solving for Y (s), we have Y (s) =
s2 . s4 − 1
(27)
A partial fraction expansion of Y (s) is Y (s) =
as + b cs + d + 2 , s2 − 1 s +1
and it follows that (as + b)(s 2 + 1) + (cs + d)(s 2 − 1) = s 2
(28)
for all s. By setting s = 1 and s = −1, respectively, in Eq. (28) we obtain the pair of equations 2(a + b) = 1,
2(−a + b) = 1,
and therefore a = 0 and b = If we set s = 0 in Eq. (28), then b − d = 0, so d = 12 . Finally, equating the coefficients of the cubic terms on each side of Eq. (28), we find that a + c = 0, so c = 0. Thus 1/2 1/2 + 2 , (29) Y (s) = 2 s −1 s +1 and from lines 7 and 5 of Table 6.2.1 the solution of the initial value problem (25), (26) is sinh t + sin t y = φ(t) = . (30) 2 1 . 2
The most important elementary applications of the Laplace transform are in the study of mechanical vibrations and in the analysis of electric circuits; the governing equations were derived in Section 3.8. A vibrating spring–mass system has the equation of motion du d 2u +γ + ku = F(t), (31) 2 dt dt where m is the mass, γ the damping coefficient, k the spring constant, and F(t) the applied external force. The equation describing an electric circuit containing an inductance L, a resistance R, and a capacitance C (an LRC circuit) is m
1 dQ d2 Q + Q = E(t), (32) +R 2 dt C dt where Q(t) is the charge on the capacitor and E(t) is the applied voltage. In terms of the current I (t) = d Q(t)/dt we can differentiate Eq. (32) and write L
1 dE d2 I dI + I = (t). +R dt C dt dt 2 Suitable initial conditions on u, Q, or I must also be prescribed. L
(33)
307
6.2 Solution of Initial Value Problems
We have noted previously in Section 3.8 that Eq. (31) for the spring–mass system and Eq. (32) or (33) for the electric circuit are identical mathematically, differing only in the interpretation of the constants and variables appearing in them. There are other physical problems that also lead to the same differential equation. Thus, once the mathematical problem is solved, its solution can be interpreted in terms of whichever corresponding physical problem is of immediate interest. In the problem lists following this and other sections in this chapter are numerous initial value problems for second order linear differential equations with constant coefficients. Many can be interpreted as models of particular physical systems, but usually we do not point this out explicitly.
PROBLEMS
In each of Problems 1 through 10 find the inverse Laplace transform of the given function. 1.
3 s2 + 4
2.
4 (s − 1)3
3.
2 s + 3s − 4
4.
3s s −s−6
5.
2s + 2 s 2 + 2s + 5
6.
2s − 3 s2 − 4
7.
2s + 1 s − 2s + 2
8.
8s 2 − 4s + 12 s(s 2 + 4)
9.
1 − 2s s 2 + 4s + 5
10.
2s − 3 s 2 + 2s + 10
2
2
2
In each of Problems 11 through 23 use the Laplace transform to solve the given initial value problem. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23.
y − y − 6y = 0; y(0) = 1, y (0) = −1 y(0) = 1, y (0) = 0 y + 3y + 2y = 0; y(0) = 0, y (0) = 1 y − 2y + 2y = 0; y(0) = 1, y (0) = 1 y − 4y + 4y = 0; y − 2y − 2y = 0; y(0) = 2, y (0) = 0 y(0) = 2, y (0) = −1 y + 2y + 5y = 0; y(0) = 0, y (0) = 1, y (0) = 0, y iv − 4y + 6y − 4y + y = 0; iv y(0) = 1, y (0) = 0, y (0) = 1, y (0) = 0 y − y = 0; iv y(0) = 1, y (0) = 0, y (0) = −2, y (0) = 0 y − 4y = 0; 2 y(0) = 1, y (0) = 0 y + ω y = cos 2t, ω2 = 4; y − 2y + 2y = cos t; y(0) = 1, y (0) = 0 y(0) = 0, y (0) = 1 y − 2y + 2y = e−t ; −t y(0) = 2, y (0) = −1 y + 2y + y = 4e ;
y (0) = 1
In each of Problems 24 through 26 find the Laplace transform Y (s) = L{y} of the solution of the given initial value problem. A method of determining the inverse transform is developed in Section 6.3.
1, 0 ≤ t < π, y(0) = 1, y (0) = 0 24. y + 4y = 0, π ≤ t < ∞;
t, 0 ≤ t < 1, y(0) = 0, y (0) = 0 25. y + y = 0, 1 ≤ t < ∞;
308
Chapter 6. The Laplace Transform
26. y + 4y =
t, 1,
0 ≤ t < 1, 1 ≤ t < ∞;
y (0) = 0
y(0) = 0,
27. The Laplace transforms of certain functions can be found conveniently from their Taylor series expansions. (a) Using the Taylor series for sin t, sin t =
∞ (−1)n t 2n+1 n= 0
(2n + 1)!
,
and assuming that the Laplace transform of this series can be computed term by term, verify that L{sin t} = (b) Let
f (t) =
1 , s2 + 1
s > 1.
(sin t)/t, 1,
t = 0, t = 0.
Find the Taylor series for f about t = 0. Assuming that the Laplace transform of this function can be computed term by term, verify that L{ f (t)} = arctan(1/s),
s > 1.
(c) The Bessel function of the first kind of order zero J0 has the Taylor series (see Section 5.8) J0 (t) =
∞ (−1)n t 2n n= 0
22n (n!)2
.
Assuming that the following Laplace transforms can be computed term by term, verify that
and
L{J0 (t)} = (s 2 + 1)−1/2 ,
s > 1,
√ L{J0 ( t)} = s −1 e−1/4s ,
s > 0.
Problems 28 through 36 are concerned with differentiation of the Laplace transform. 28. Let ∞ e−st f (t) dt. F(s) = 0
It is possible to show that as long as f satisfies the conditions of Theorem 6.1.2, it is legitimate to differentiate under the integral sign with respect to the parameter s when s > a. (a) Show that F (s) = L{−t f (t)}. (b) Show that F (n) (s) = L{(−t)n f (t)}; hence differentiating the Laplace transform corresponds to multiplying the original function by −t. In each of Problems 29 through 34 use the result of Problem 28 to find the Laplace transform of the given function; a and b are real numbers and n is a positive integer. 30. t 2 sin bt 29. teat n 31. t 32. t n eat 33. teat sin bt 34. teat cos bt 35. Consider Bessel’s equation of order zero t y + y + t y = 0.
309
6.2 Solution of Initial Value Problems
Recall from Section 5.4 that t = 0 is a regular singular point for this equation, and therefore solutions may become unbounded as t → 0. However, let us try to determine whether there are any solutions that remain finite at t = 0 and have finite derivatives there. Assuming that there is such a solution y = φ(t), let Y (s) = L{φ(t)}. (a) Show that Y (s) satisfies (1 + s 2 )Y (s) + sY (s) = 0. (b) Show that Y (s) = c(1 + s 2 )−1/2 , where c is an arbitrary constant. (c) Expanding (1 + s 2 )−1/2 in a binomial series valid for s > 1 and assuming that it is permissible to take the inverse transform term by term, show that y=c
∞ (−1)n t 2n n= 0
22n (n!)2
= c J0 (t),
where J0 is the Bessel function of the first kind of order zero. Note that J0 (0) = 1, and that J0 has finite derivatives of all orders at t = 0. It was shown in Section 5.8 that the second solution of this equation becomes unbounded as t → 0. 36. For each of the following initial value problems use the results of Problem 28 to find the differential equation satisfied by Y (s) = L{φ(t)}, where y = φ(t) is the solution of the given initial value problem. y(0) = 1, y (0) = 0 (Airy’s equation) (a) y − t y = 0; 2 (b) (1 − t )y − 2t y + α(α + 1)y = 0; y(0) = 0, y (0) = 1 (Legendre’s equation) Note that the differential equation for Y (s) is of first order in part (a), but of second order in part (b). This is due to the fact that t appears at most to the first power in the equation of part (a), whereas it appears to the second power in that of part (b). This illustrates that the Laplace transform is not often useful in solving differential equations with variable coefficients, unless all the coefficients are at most linear functions of the independent variable. 37. Suppose that t f (τ ) dτ. g(t) = 0
If G(s) and F(s) are the Laplace transforms of g(t) and f (t), respectively, show that G(s) = F(s)/s. 38. In this problem we show how a general partial fraction expansion can be used to calculate many inverse Laplace transforms. Suppose that F(s) = P(s)/Q(s), where Q(s) is a polynomial of degree n with distinct zeros r1 , . . . , rn and P(s) is a polynomial of degree less than n. In this case it is possible to show that P(s)/Q(s) has a partial fraction expansion of the form An A1 P(s) + ··· + , = Q(s) s − r1 s − rn
(i)
where the coefficients A1 , . . . , An must be determined. (a) Show that Ak = P(rk )/Q (rk ),
k = 1, . . . , n.
(ii)
Hint: One way to do this is to multiply Eq. (i) by s − rk and then to take the limit as s → rk .
310
Chapter 6. The Laplace Transform
(b) Show that L−1 {F(s)} =
n P(rk ) r t ek . Q (rk ) k=1
(iii)
6.3 Step Functions In Section 6.2 we outlined the general procedure involved in solving initial value problems by means of the Laplace transform. Some of the most interesting elementary applications of the transform method occur in the solution of linear differential equations with discontinuous or impulsive forcing functions. Equations of this type frequently arise in the analysis of the flow of current in electric circuits or the vibrations of mechanical systems. In this section and the following ones we develop some additional properties of the Laplace transform that are useful in the solution of such problems. Unless a specific statement is made to the contrary, all functions appearing below will be assumed to be piecewise continuous and of exponential order, so that their Laplace transforms exist, at least for s sufficiently large. To deal effectively with functions having jump discontinuities, it is very helpful to introduce a function known as the unit step function, or Heaviside function. This function will be denoted by u c , and is defined by
0, t < c, u c (t) = c ≥ 0. (1) 1, t ≥ c, The graph of y = u c (t) is shown in Figure 6.3.1. The step can also be negative. For instance, Figure 6.3.2 shows the graph y = 1 − u c (t). y
y
1
1
c
t
FIGURE 6.3.1 Graph of y = u c (t).
c
FIGURE 6.3.2 Graph of y = 1 − u c (t).
Sketch the graph of y = h(t), where EXAMPLE
1
h(t) = u π (t) − u 2π (t),
t ≥ 0.
From the definition of u c (t) in Eq. (1) we have 0 − 0 = 0, 0 ≤ t < π, h(t) = 1 − 0 = 1, π ≤ t < 2π, 1 − 1 = 0, 2π ≤ t < ∞.
t
311
6.3 Step Functions
Thus the equation y = h(t) has the graph shown in Figure 6.3.3. This function can be thought of as a rectangular pulse. y 1
π
2π
3π
t
FIGURE 6.3.3 Graph of y = u π (t) − u 2π (t).
The Laplace transform of u c is easily determined: ∞ −st e u c (t) dt = L{u c (t)} = 0 −cs
∞
e−st dt
c
e
, s > 0. (2) s For a given function f , defined for t ≥ 0, we will often want to consider the related function g defined by
0, t < c, y = g(t) = f (t − c), t ≥ c, =
which represents a translation of f a distance c in the positive t direction; see Figure 6.3.4. In terms of the unit step function we can write g(t) in the convenient form g(t) = u c (t) f (t − c). The unit step function is particularly important in transform use because of the following relation between the transform of f (t) and that of its translation u c (t) f (t − c). y
y
f (0)
f (0)
t
c
(a)
t (b)
FIGURE 6.3.4 A translation of the given function. (a) y = f (t); (b) y = u c (t) f (t − c).
Theorem 6.3.1
If F(s) = L{ f (t)} exists for s > a ≥ 0, and if c is a positive constant, then L{u c (t) f (t − c)} = e−cs L{ f (t)} = e−cs F(s),
s > a.
(3)
312
Chapter 6. The Laplace Transform
Conversely, if f (t) = L−1 {F(s)}, then u c (t) f (t − c) = L−1 {e−cs F(s)}.
(4)
Theorem 6.3.1 simply states that the translation of f (t) a distance c in the positive t direction corresponds to the multiplication of F(s) by e−cs . To prove Theorem 6.3.1 it is sufficient to compute the transform of u c (t) f (t − c): ∞ L{u c (t) f (t − c)} = e−st u c (t) f (t − c) dt 0 ∞ = e−st f (t − c) dt. c
Introducing a new integration variable ξ = t − c, we have ∞ L{u c (t) f (t − c)} = e−(ξ +c)s f (ξ ) dξ = e−cs =e
0 −cs
∞
e−sξ f (ξ ) dξ
0
F(s).
Thus Eq. (3) is established; Eq. (4) follows by taking the inverse transform of both sides of Eq. (3). A simple example of this theorem occurs if we take f (t) = 1. Recalling that L{1} = 1/s, we immediately have from Eq. (3) that L{u c (t)} = e−cs /s. This result agrees with that of Eq. (2). Examples 2 and 3 illustrate further how Theorem 6.3.1 can be used in the calculation of transforms and inverse transforms.
EXAMPLE
2
If the function f is defined by
sin t, f (t) = sin t + cos(t − π/4),
0 ≤ t < π/4, t ≥ π/4,
find L{ f (t)}. The graph of y = f (t) is shown in Figure 6.3.5. Note that f (t) = sin t + g(t), where
0, t < π/4, g(t) = cos(t − π/4), t ≥ π/4. Thus g(t) = u π/4 (t) cos(t − π/4), and L{ f (t)} = L{sin t} + L{u π/4 (t) cos(t − π/4)} = L{sin t} + e−πs/4 L{cos t}. Introducing the transforms of sin t and cos t, we obtain 1 + se−πs/4 1 s −πs/4 + e = . s2 + 1 s2 + 1 s2 + 1 You should compare this method with the calculation of L{ f (t)} directly from the definition. L{ f (t)} =
313
6.3 Step Functions y 2 1.5 1 y = sin t + uπ /4(t)cos(t – 4π )
0.5
0.5
π 4
1
1.5
2
2.5
3 t
FIGURE 6.3.5 Graph of the function in Example 2.
Find the inverse transform of EXAMPLE
3
1 − e−2s . s2 From the linearity of the inverse transform we have
−2s e 1 f (t) = L−1 {F(s)} = L−1 2 − L−1 s s2 = t − u 2 (t)(t − 2). F(s) =
The function f may also be written as
t, f (t) = 2,
0 ≤ t < 2, t ≥ 2.
The following theorem contains another very useful property of Laplace transforms that is somewhat analogous to that given in Theorem 6.3.1.
Theorem 6.3.2
If F(s) = L{ f (t)} exists for s > a ≥ 0, and if c is a constant, then L{ect f (t)} = F(s − c),
s > a + c.
(5)
−1
Conversely, if f (t) = L {F(s)}, then ect f (t) = L−1 {F(s − c)}.
(6)
According to Theorem 6.3.2, multiplication of f (t) by ect results in a translation of the transform F(s) a distance c in the positive s direction, and conversely. The proof of this theorem requires merely the evaluation of L{ect f (t)}. Thus ∞ ∞ ct −st ct L{e f (t)} = e e f (t) dt = e−(s−c)t f (t) dt 0
= F(s − c),
0
314
Chapter 6. The Laplace Transform
which is Eq. (5). The restriction s > a + c follows from the observation that, according to hypothesis (ii) of Theorem 6.1.2, | f (t)| ≤ K eat ; hence |ect f (t)| ≤ K e(a+c)t . Equation (6) follows by taking the inverse transform of Eq. (5), and the proof is complete. The principal application of Theorem 6.3.2 is in the evaluation of certain inverse transforms, as illustrated by Example 4.
Find the inverse transform of EXAMPLE
4
1 . s − 4s + 5 By completing the square in the denominator we can write G(s) =
G(s) =
2
1 = F(s − 2), (s − 2)2 + 1
where F(s) = (s 2 + 1)−1 . Since L−1 {F(s)} = sin t, it follows from Theorem 6.3.2 that g(t) = L−1 {G(s)} = e2t sin t.
The results of this section are often useful in solving differential equations, particularly those having discontinuous forcing functions. The next section is devoted to examples illustrating this fact.
PROBLEMS
In each of Problems 1 through 6 sketch the graph of the given function on the interval t ≥ 0. 1. 3. 5. 6.
2. (t − 3)u 2 (t) − (t − 2)u 3 (t) u 1 (t) + 2u 3 (t) − 6u 4 (t) f (t − π )u π (t), where f (t) = t 2 4. f (t − 3)u 3 (t), where f (t) = sin t where f (t) = 2t f (t − 1)u 2 (t), f (t) = (t − 1)u 1 (t) − 2(t − 2)u 2 (t) + (t − 3)u 3 (t)
In each of Problems 7 through 12 find the Laplace transform of the given function.
0, t <2 0, t <1 7. f (t) = 8. f (t) = (t − 2)2 , t ≥2 t 2 − 2t + 2, t ≥1 0, t <π 9. f (t) = 10. f (t) = u 1 (t) + 2u 3 (t) − 6u 4 (t) t − π, π ≤ t < 2π 0, t ≥ 2π 11. f (t) = (t − 3)u 2 (t) − (t − 2)u 3 (t)
12. f (t) = t − u 1 (t)(t − 1),
t ≥0
In each of Problems 13 through 18 find the inverse Laplace transform of the given function. 13. F(s) =
3! (s − 2)4
14. F(s) =
e−2s s2 + s − 2
15. F(s) =
2(s − 1)e−2s s 2 − 2s + 2
16. F(s) =
2e−2s s2 − 4
17. F(s) =
(s − 2)e−s s 2 − 4s + 3
18. F(s) =
e−s + e−2s − e−3s − e−4s s
315
6.3 Step Functions
19. Suppose that F(s) = L{ f (t)} exists for s > a ≥ 0. (a) Show that if c is a positive constant, then 1 s , L{ f (ct)} = F c c (b) Show that if k is a positive constant, then 1 L {F(ks)} = f k −1
s > ca. t . k
(c) Show that if a and b are constants with a > 0, then 1 L {F(as + b)} = e−bt/a f a −1
t . a
In each of Problems 20 through 23 use the results of Problem 19 to find the inverse Laplace transform of the given function. 20. F(s) =
2n+1 n! s n+1
21. F(s) =
2s + 1 4s + 4s + 5
22. F(s) =
1 9s − 12s + 3
23. F(s) =
e2 e−4s 2s − 1
2
2
In each of Problems 24 through 27 find the Laplace transform of the given function. In Problem 27 assume that term-by-term integration of the infinite series is permissible. 1, 0≤t <1
0, 1≤t <2 1, 0≤t <1 25. f (t) = 24. f (t) = 1, 2≤t <3 0, t ≥1 0, t ≥3 26. f (t) = 1 − u 1 (t) + · · · + u 2n (t) − u 2n+1 (t) = 1 + 27. f (t) = 1 +
∞
2n+1
(−1)k u k (t)
k=1
(−1) u k (t). k
See Figure 6.3.6.
k=1
y 1
1
2
3
4
5
t
FIGURE 6.3.6 A square wave. 28. Let f satisfy f (t + T ) = f (t) for all t ≥ 0 and for some fixed positive number T ; f is said to be periodic with period T on 0 ≤ t < ∞. Show that T e−st f (t) dt 0 . L{ f (t)} = 1 − e−sT
316
Chapter 6. The Laplace Transform
In each of Problems 29 through 32, use the result of Problem 28 to find the Laplace transform of the given function.
1, 0 ≤ t < 1, 1, 0 ≤ t < 1, 30. f (t) = 29. f (t) = −1, 1 ≤ t < 2; 0, 1 ≤ t < 2; f (t + 2) = f (t). f (t + 2) = f (t). See Figure 6.3.7. Compare with Problem 27. y 1 1
2
3
4
5 t
–1
FIGURE 6.3.7 A square wave.
31. f (t) = t, 0 ≤ t < 1; f (t + 1) = f (t). See Figure 6.3.8.
32. f (t) = sin t, 0 ≤ t < π; f (t + π ) = f (t). See Figure 6.3.9.
y
y
1 1 1
2
3
4
FIGURE 6.3.8 A sawtooth wave.
t
π
2π
3π
t
FIGURE 6.3.9 A rectified sine wave.
33. (a) If f (t) = 1 − u 1 (t), find L{ f (t)}; compare with Problem 24. Sketch the graph of y = f (t). t f (ξ ) dξ , where the function f is defined in part (a). Sketch the graph (b) Let g(t) = 0
of y = g(t) and find L{g(t)}. (c) Let h(t) = g(t) − u 1 (t)g(t − 1), where g is defined in part (b). Sketch the graph of y = h(t) and find L{h(t)}. 34. Consider the function p defined by
t, 0 ≤ t < 1, p(t) = p(t + 2) = p(t). 2 − t, 1 ≤ t < 2; (a) Sketch the graph of y = p(t). (b) Find L{ p(t)} by noting that p is the periodic extension of the function h in Problem 33(c) and then using the result of Problem 28.
317
6.4 Differential Equations with Discontinuous Forcing Functions
(c) Find L{ p(t)} by noting that
t
p(t) =
f (t) dt,
0
where f is the function in Problem 30, and then using Theorem 6.2.1.
6.4 Differential Equations with Discontinuous Forcing Functions In this section we turn our attention to some examples in which the nonhomogeneous term, or forcing function, is discontinuous.
Find the solution of the differential equation EXAMPLE
2y + y + 2y = g(t),
1 where
g(t) = u 5 (t) − u 20 (t) =
1, 0,
(1)
5 ≤ t < 20, 0 ≤ t < 5 and t ≥ 20.
(2)
Assume that the initial conditions are y(0) = 0,
y (0) = 0.
(3)
This problem governs the charge on the capacitor in a simple electric circuit with a unit voltage pulse for 5 ≤ t < 20. Alternatively, y may represent the response of a damped oscillator subject to the applied force g(t). The Laplace transform of Eq. (1) is 2s 2 Y (s) − 2sy(0) − 2y (0) + sY (s) − y(0) + 2Y (s) = L{u 5 (t)} − L{u 20 (t)} = (e−5s − e−20s )/s. Introducing the initial values (3) and solving for Y (s), we obtain Y (s) =
e−5s − e−20s . s(2s 2 + s + 2)
(4)
To find y = φ(t) it is convenient to write Y (s) as Y (s) = (e−5s − e−20s )H (s),
(5)
H (s) = 1/s(2s 2 + s + 2).
(6)
where Then, if h(t) = L−1 {H (s)}, we have y = φ(t) = u 5 (t)h(t − 5) − u 20 (t)h(t − 20).
(7)
318
Chapter 6. The Laplace Transform
Observe that we have used Theorem 6.3.1 to write the inverse transforms of e−5s H (s) and e−20s H (s), respectively. Finally, to determine h(t) we use the partial fraction expansion of H (s): H (s) =
bs + c a + 2 . s 2s + s + 2
(8)
Upon determining the coefficients we find that a = 12 , b = −1, and c = − 12 . Thus s + 12 1/2 − 2 s 2s + s + 2 1 (s + 14 ) + 1/2 − = s 2 (s + 14 )2 +
H (s) =
1 4 15 16
,
(9)
so that, by referring to lines 9 and 10 of Table 6.2.1, we obtain h(t) =
1 2
√ √ √ − 12 [e−t/4 cos( 15 t/4) + ( 15/15)e−t/4 sin( 15 t/4)].
(10)
In Figure 6.4.1 the graph of y = φ(t) from Eqs. (7) and (10) shows that the solution consists of three distinct parts. For 0 < t < 5 the differential equation is 2y + y + 2y = 0
(11)
and the initial conditions are given by Eq. (3). Since the initial conditions impart no energy to the system, and since there is no external forcing, the system remains at rest; that is, y = 0 for 0 < t < 5. This can be confirmed by solving Eq. (11) subject to the initial conditions (3). In particular, evaluating the solution and its derivative at t = 5, or more precisely, as t approaches 5 from below, we have y(5) = 0,
y (5) = 0.
(12)
Once t > 5, the differential equation becomes 2y + y + 2y = 1,
(13)
whose solution is the sum of a constant (the response to the constant forcing function) and a damped oscillation (the solution of the corresponding homogeneous equation). The plot in Figure 6.4.1 shows this behavior clearly for the interval 5 ≤ t ≤ 20. An expression for this portion of the solution can be found by solving the differential equation (13) subject to the initial conditions (12). Finally, for t > 20 the differential equation becomes Eq. (11) again, and the initial conditions are obtained by evaluating the solution of Eqs. (13), (12) and its derivative at t = 20. These values are y(20) ∼ = 0.50162,
y (20) ∼ = 0.01125.
(14)
The initial value problem (11), (14) contains no external forcing, so its solution is a damped oscillation about y = 0, as can be seen in Figure 6.4.1.
319
6.4 Differential Equations with Discontinuous Forcing Functions y 0.8
0.6
0.4
0.2
10
20
30
40
t
–0.2
FIGURE 6.4.1 Solution of the initial value problem (1), (2), (3).
While it may be helpful to visualize the solution shown in Figure 6.4.1 as composed of solutions of three separate initial value problems in three separate intervals, it is somewhat tedious to find the solution by solving these separate problems. Laplace transform methods provide a much more convenient and elegant approach to this problem and to others having discontinuous forcing functions.
The effect of the discontinuity in the forcing function can be seen if we examine the solution φ(t) of Example 1 more closely. According to the existence and uniqueness Theorem 3.2.1 the solution φ and its first two derivatives are continuous except possibly at the points t = 5 and t = 20 where g is discontinuous. This can also be seen at once from Eq. (7). One can also show by direct computation from Eq. (7) that φ and φ are continuous even at t = 5 and t = 20. However, if we calculate φ , we find that lim φ (t) = 0,
t→5−
lim φ (t) = 1/2.
t→5+
Consequently, φ (t) has a jump of 1/2 at t = 5. In a similar way one can show that φ (t) has a jump of −1/2 at t = 20. Thus the jump in the forcing term g(t) at these points is balanced by a corresponding jump in the highest order term 2y on the left side of the equation. Consider now the general second order linear equation y + p(t)y + q(t)y = g(t),
(15)
where p and q are continuous on some interval α < t < β, but g is only piecewise continuous there. If y = ψ(t) is a solution of Eq. (15), then ψ and ψ are continuous on α < t < β, but ψ has jump discontinuities at the same points as g. Similar remarks apply to higher order equations; the highest derivative of the solution appearing in the differential equation has jump discontinuities at the same points as the forcing function, but the solution itself and its lower derivatives are continuous even at those points.
320
Chapter 6. The Laplace Transform
Describe the qualitative nature of the solution of the initial value problem EXAMPLE
y + 4y = g(t),
2
y (0) = 0,
y(0) = 0, where
(16)
0, g(t) = (t − 5)/5, 1,
(17)
0 ≤ t < 5, 5 ≤ t < 10, t ≥ 10,
(18)
and then find the solution. In this example the forcing function has the graph shown in Figure 6.4.2 and is known as ramp loading. It is relatively easy to identify the general form of the solution. For t < 5 the solution is simply y = 0. On the other hand, for t > 10 the solution has the form y = c1 cos 2t + c2 sin 2t + 1/4.
(19)
The constant 1/4 is a particular solution of the nonhomogeneous equation while the other two terms are the general solution of the corresponding homogeneous equation. Thus the solution (19) is a simple harmonic oscillation about y = 1/4. Similarly, in the intermediate range 5 < t < 10, the solution is an oscillation about a certain linear function. In an engineering context, for example, we might be interested in knowing the amplitude of the eventual steady oscillation. y 1 y = g(t) 0.5
5
10
15
20 t
FIGURE 6.4.2 Ramp loading; y = g(t) from Eq. (18).
To solve the problem it is convenient to write g(t) = [u 5 (t)(t − 5) − u 10 (t)(t − 10)]/5,
(20)
as you may verify. Then we take the Laplace transform of the differential equation and use the initial conditions, thereby obtaining (s 2 + 4)Y (s) = (e−5s − e−10s )/5s 2 , or Y (s) = (e−5s − e−10s )H (s)/5,
(21)
H (s) = 1/s 2 (s 2 + 4).
(22)
where
321
6.4 Differential Equations with Discontinuous Forcing Functions
Thus the solution of the initial value problem (16), (17), (18) is y = φ(t) = [u 5 (t)h(t − 5) − u 10 (t)h(t − 10)]/5,
(23)
where h(t) is the inverse transform of H (s). The partial fraction expansion of H (s) is 1/4 1/4 , − 2 2 s s +4 and it then follows from lines 3 and 5 of Table 6.2.1 that H (s) =
(24)
h(t) = 14 t − 18 sin 2t.
(25)
The graph of y = φ(t) is shown in Figure 6.4.3. Observe that it has the qualitative form that we indicated earlier. To find the amplitude of the eventual steady oscillation it is sufficient to locate one of the maximum or minimum points for t > 10. Setting the derivative of the solution (23) equal to zero, we find that the first maximum is located approximately at (10.642, 0.2979), so the amplitude of the oscillation is approximately 0.0479. y 0.30
0.20
0.10
5
10
15
20
t
FIGURE 6.4.3 Solution of the initial value problem (16), (17), (18).
Note that in this example the forcing function g is continuous but g is discontinuous at t = 5 and t = 10. It follows that the solution φ and its first two derivatives are continuous everywhere, but φ has discontinuities at t = 5 and at t = 10 that match the discontinuities in g at those points.
PROBLEMS
In each of Problems 1 through 13 find the solution of the given initial value problem. Draw the graphs of the solution and of the forcing function; explain how they are related.
1, 0 ≤ t < π/2 y(0) = 0, y (0) = 1; f (t) = 䉴 1. y + y = f (t); 0, π/2 ≤ t < ∞
1, π ≤ t < 2π 䉴 2. y + 2y + 2y = h(t); y(0) = 0, y (0) = 1; h(t) = 0, 0 ≤ t < π and t ≥ 2π
322
Chapter 6. The Laplace Transform
䉴 䉴
3. y + 4y = sin t − u 2π (t) sin(t − 2π ); 4. y + 4y = sin t + u π (t) sin(t − π );
䉴
5. y + 3y + 2y = f (t);
䉴 䉴 䉴
6. y + 3y + 2y = u 2 (t); y(0) = 0, y (0) = 1 7. y + y = u 3π (t); y(0) = 1, y (0) = 0
y(0) = 0,
y(0) = 0, y (0) = 0 y(0) = 0, y (0) = 0
y (0) = 0;
8. y + y + 54 y = t − u π/2 (t)(t − π/2);
f (t) =
1, 0,
0 ≤ t < 10 t ≥ 10
y (0) = 0
t/2, 0 ≤ t < 6 y(0) = 0, y (0) = 1; g(t) = 䉴 9. y + y = g(t); 3, t ≥ 6 sin t, 0 ≤ t < π y(0) = 0, y (0) = 0; g(t) = 䉴 10. y + y + 54 y = g(t); 0, t ≥π y(0) = 0, y (0) = 0 䉴 11. y + 4y = u π (t) − u 3π (t); y(0) = 0,
y(0) = 0, y (0) = 0, y (0) = 0, y (0) = 0 䉴 12. y iv − y = u 1 (t) − u 2 (t); iv y(0) = 0, y (0) = 0, y (0) = 0, y (0) = 0 䉴 13. y + 5y + 4y = 1 − u π (t); 14. Find an expression involving u c (t) for a function f that ramps up from zero at t = t0 to the value h at t = t0 + k. 15. Find an expression involving u c (t) for a function g that ramps up from zero at t = t0 to the value h at t = t0 + k and then ramps back down to zero at t = t0 + 2k. 䉴 16. A certain spring–mass system satisfies the initial value problem u + 14 u + u = kg(t),
u(0) = 0,
u (0) = 0,
where g(t) = u 3/2 (t) − u 5/2 (t) and k > 0 is a parameter. (a) Sketch the graph of g(t). Observe that it is a pulse of unit magnitude extending over one time unit. (b) Solve the initial value problem. (c) Plot the solution for k = 1/2, k = 1, and k = 2. Describe the principal features of the solution and how they depend on k. (d) Find, to two decimal places, the smallest value of k for which the solution u(t) reaches the value 2. (e) Suppose k = 2. Find the time τ after which |u(t)| < 0.1 for all t > τ . 䉴 17. Modify the problem in Example 2 in the text by replacing the given forcing function g(t) by f (t) = [u 5 (t)(t − 5) − u 5+k (t)(t − 5 − k)]/k. (a) Sketch the graph of f (t) and describe how it depends on k. For what value of k is f (t) identical to g(t) in the example? (b) Solve the initial value problem y + 4y = f (t),
y(0) = 0,
y (0) = 0.
(c) The solution in part (b) depends on k, but for sufficiently large t the solution is always a simple harmonic oscillation about y = 1/4. Try to decide how the amplitude of this eventual oscillation depends on k. Then confirm your conclusion by plotting the solution for a few different values of k. 䉴 18. Consider the initial value problem where
y + 13 y + 4y = f k (t), y(0) = 0, y (0) = 0,
1/2k, 4−k ≤t <4+k f k (t) = 0, 0 ≤ t < 4 − k and t ≥ 4 + k
and 0 < k < 4.
323
6.4 Differential Equations with Discontinuous Forcing Functions
(a) Sketch the graph of f k (t). Observe that the area under the graph is independent of k. If f k (t) represents a force, this means that the product of the magnitude of the force and the time interval during which it acts does not depend on k. (b) Write f k (t) in terms of the unit step function and then solve the given initial value problem. (c) Plot the solution for k = 2, k = 1, and k = 12 . Describe how the solution depends on k. Resonance and Beats. In Section 3.9 we observed that an undamped harmonic oscillator (such as a spring–mass system), with a sinusoidal forcing term experiences resonance if the frequency of the forcing term is the same as the natural frequency. If the forcing frequency is slightly different from the natural frequency, then the system exhibits a beat. In Problems 19 through 23 we explore the effect of some nonsinusoidal periodic forcing functions.
䉴 19. Consider the initial value problem y + y = f (t),
y(0) = 0,
y (0) = 0,
where f (t) = u 0 (t) + 2
n (−1)k u kπ (t). k=1
(a) Draw the graph of f (t) on an interval such as 0 ≤ t ≤ 6π . (b) Find the solution of the initial value problem. (c) Let n = 15 and plot the graph of the solution for 0 ≤ t ≤ 60. Describe the solution and explain why it behaves as it does. (d) Investigate how the solution changes as n increases. What happens as n → ∞? 䉴 20. Consider the initial value problem y + 0.1y + y = f (t),
y(0) = 0,
y (0) = 0,
where f (t) is the same as in Problem 19. (a) Plot the graph of the solution. Use a large enough value of n and a long enough tinterval so that the transient part of the solution has become negligible and the steady state is clearly shown. (b) Estimate the amplitude and frequency of the steady-state part of the solution. (c) Compare the results of part (b) with those from Section 3.9 for a sinusoidally forced oscillator. 䉴 21. Consider the initial value problem y + y = g(t),
y(0) = 0,
y (0) = 0,
where g(t) = u 0 (t) +
n (−1)k u kπ (t). k=1
(a) Draw the graph of g(t) on an interval such as 0 ≤ t ≤ 6π . Compare the graph with that of f (t) in Problem 19(a). (b) Find the solution of the initial value problem. (c) Let n = 15 and plot the graph of the solution for 0 ≤ t ≤ 60. Describe the solution and explain why it behaves as it does. Compare it with the solution of Problem 19. (d) Investigate how the solution changes as n increases. What happens as n → ∞? 䉴 22. Consider the initial value problem y + 0.1y + y = g(t), where g(t) is the same as in Problem 21.
y(0) = 0,
y (0) = 0,
324
Chapter 6. The Laplace Transform
(a) Plot the graph of the solution. Use a large enough value of n and a long enough t-interval so that the transient part of the solution has become negligible and the steady state is clearly shown. (b) Estimate the amplitude and frequency of the steady-state part of the solution. (c) Compare the results of part (b) with those from Problem 20 and from Section 3.9 for a sinusoidally forced oscillator. 䉴 23. Consider the initial value problem y + y = h(t),
y(0) = 0,
y (0) = 0,
where f (t) = u 0 (t) + 2
n
(−1)k u 11k/4 (t).
k=1
Observe that this problem is identical to Problem 19 except that the frequency of the forcing term has been increased somewhat. (a) Find the solution of this initial value problem. (b) Let n ≥ 33 and plot the solution for 0 ≤ t ≤ 90 or longer. Your plot should show a clearly recognizable beat. (c) From the graph in part (b) estimate the “slow period” and the “fast period” for this oscillator. (d) For a sinusoidally forced oscillator in Section 3.9 it was shown that the “slow frequency“ is given by |ω − ω0 |/2, where ω0 is the natural frequency of the system and ω is the forcing frequency. Similarly the “fast frequency” is (ω + ω0 )/2. Use these expressions to calculate the “fast period” and the “slow period” for the oscillator in this problem. How well do the results compare with your estimates from part (c)?
6.5 Impulse Functions In some applications it is necessary to deal with phenomena of an impulsive nature, for example, voltages or forces of large magnitude that act over very short time intervals. Such problems often lead to differential equations of the form ay + by + cy = g(t),
(1)
where g(t) is large during a short interval t0 − τ < t < t0 + τ and is otherwise zero. The integral I (τ ), defined by t +τ 0 I (τ ) = g(t) dt, (2) t0 −τ
or, since g(t) = 0 outside of the interval (t0 − τ, t0 + τ ), ∞ I (τ ) = g(t) dt,
(3)
−∞
is a measure of the strength of the forcing function. In a mechanical system, where g(t) is a force, I (τ ) is the total impulse of the force g(t) over the time interval (t0 − τ, t0 + τ ). Similarly, if y is the current in an electric circuit and g(t) is the time derivative of the voltage, then I (τ ) represents the total voltage impressed on the circuit during the interval (t0 − τ, t0 + τ ).
325
6.5 Impulse Functions
In particular, let us suppose that t0 is zero, and that g(t) is given by
1/2τ, −τ < t < τ, g(t) = dτ (t) = 0, t ≤ −τ or t ≥ τ,
(4)
where τ is a small positive constant (see Figure 6.5.1). According to Eq. (2) or (3) it follows immediately that in this case I (τ ) = 1 independent of the value of τ , as long as τ = 0. Now let us idealize the forcing function dτ by prescribing it to act over shorter and shorter time intervals; that is, we require that τ → 0, as indicated in Figure 6.5.2. As a result of this limiting operation we obtain lim d (t) τ →0 τ
= 0,
t = 0.
(5)
Further, since I (τ ) = 1 for each τ = 0, it follows that lim I (τ ) = 1.
(6)
τ →0
Equations (5) and (6) can be used to define an idealized unit impulse function δ, which imparts an impulse of magnitude one at t = 0, but is zero for all values of t other than zero. That is, the “function” δ is defined to have the properties δ(t) = 0, t = 0; ∞ δ(t) dt = 1.
(7) (8)
−∞
y 1 2τ
–τ
τ
t
FIGURE 6.5.1 Graph of y = dτ (t). y
t
FIGURE 6.5.2 Graphs of y = dτ (t) as τ → 0.
326
Chapter 6. The Laplace Transform
There is no ordinary function of the kind studied in elementary calculus that satisfies both of Eqs. (7) and (8). The “function” δ, defined by those equations, is an example of what are known as generalized functions and is usually called the Dirac2 delta function. Since δ(t) corresponds to a unit impulse at t = 0, a unit impulse at an arbitrary point t = t0 is given by δ(t − t0 ). From Eqs. (7) and (8) it follows that t = t0 ; δ(t − t0 ) = 0, ∞ δ(t − t0 ) dt = 1.
(9) (10)
−∞
The delta function does not satisfy the conditions of Theorem 6.1.2, but its Laplace transform can nevertheless be formally defined. Since δ(t) is defined as the limit of dτ (t) as τ → 0, it is natural to define the Laplace transform of δ as a similar limit of the transform of dτ . In particular, we will assume that t0 > 0, and define L{δ(t − t0 )} by the equation L{δ(t − t0 )} = lim L{dτ (t − t0 )}. τ →0
(11)
To evaluate the limit in Eq. (11) we first observe that if τ < t0 , which must eventually be the case as τ → 0, then t0 − τ > 0. Since dτ (t − t0 ) is nonzero only in the interval from t0 − τ to t0 + τ , we have ∞ e−st dτ (t − t0 ) dt L{dτ (t − t0 )} = 0 t +τ 0 = e−st dτ (t − t0 ) dt. t0 −τ
Substituting for dτ (t − t0 ) from Eq. (4), we obtain t +τ 0 1 1 −st t=t0 +τ L{dτ (t − t0 )} = e−st dt = − e t=t0 −τ 2τ t0 −τ 2sτ 1 −st sτ = e 0 (e − e−sτ ) 2sτ or sinh sτ −st e 0. L{dτ (t − t0 )} = (12) sτ The quotient (sinh sτ )/sτ is indeterminate as τ → 0, but its limit can be evaluated by L’Hospital’s rule. We obtain sinh sτ s cosh sτ = lim = 1. τ →0 sτ s Then from Eq. (11) it follows that lim
τ →0
L{δ(t − t0 )} = e−st0 . 2
(13)
Paul A. M. Dirac (1902–1984), English mathematical physicist, received his Ph.D. from Cambridge in 1926 and was professor of mathematics there until 1969. He was awarded the Nobel prize in 1933 (with Erwin Schr¨odinger) for fundamental work in quantum mechanics. His most celebrated result was the relativistic equation for the electron, published in 1928. From this equation he predicted the existence of an “anti-electron,” or positron, which was first observed in 1932. Following his retirement from Cambridge, Dirac moved to the United States and held a research professorship at Florida State University.
327
6.5 Impulse Functions
Equation (13) defines L{δ(t − t0 )} for any t0 > 0. We extend this result, to allow t0 to be zero, by letting t0 → 0 on the right side of Eq. (13); thus L{δ(t)} = lim e−st0 = 1.
(14)
t0 →0
In a similar way it is possible to define the integral of the product of the delta function and any continuous function f . We have ∞ ∞ δ(t − t0 ) f (t) dt = lim dτ (t − t0 ) f (t) dt. (15) τ →0 −∞
−∞
Using the definition (4) of dτ (t) and the mean value theorem for integrals, we find that t +τ ∞ 0 1 dτ (t − t0 ) f (t) dt = f (t) dt 2τ t0 −τ −∞ 1 · 2τ · f (t ∗ ) = f (t ∗ ), = 2τ where t0 − τ < t ∗ < t0 + τ . Hence, t ∗ → t0 as τ → 0, and it follows from Eq. (15) that ∞ δ(t − t0 ) f (t) dt = f (t0 ). (16) −∞
It is often convenient to introduce the delta function when working with impulse problems, and to operate formally on it as though it were a function of the ordinary kind. This is illustrated in the example below. It is important to realize, however, that the ultimate justification of such procedures must rest on a careful analysis of the limiting operations involved. Such a rigorous mathematical theory has been developed, but we do not discuss it here.
Find the solution of the initial value problem EXAMPLE
1
2y + y + 2y = δ(t − 5),
(17)
y (0) = 0.
(18)
y(0) = 0,
This initial value problem arises from the study of the same electrical circuit or mechanical oscillator as in Example 1 of Section 6.4. The only difference is in the forcing term. To solve the given problem we take the Laplace transform of the differential equation and use the initial conditions, obtaining (2s 2 + s + 2)Y (s) = e−5s . Thus Y (s) =
e−5s 1 e−5s = 2 (s + 14 )2 + 2s 2 + s + 2
By Theorem 6.3.2 or from line 9 of Table 6.2.1 1 = √415 e−t/4 sin L−1 (s + 14 )2 + 15 16
15 16
.
(19)
t.
(20)
√
15 4
328
Chapter 6. The Laplace Transform
Hence, by Theorem 6.3.1, we have y = L−1 {Y (s)} =
√2 15
u 5 (t)e−(t−5)/4 sin
√
15 4
(t − 5),
(21)
which is the formal solution of the given problem. It is also possible to write y in the form 0, t < 5, √ (22) y= √2 e−(t−5)/4 sin 15 (t − 5), t ≥ 5. 4 15 The graph of Eq. (22) is shown in Figure 6.5.3. Since the initial conditions at t = 0 are homogeneous, and there is no external excitation until t = 5, there is no response in the interval 0 < t < 5. The impulse at t = 5 produces a decaying oscillation that persists indefinitely. The response is continuous at t = 5 despite the singularity in the forcing function at that point. However, the first derivative of the solution has a jump discontinuity at t = 5 and the second derivative has an infinite discontinuity there. This is required by the differential equation (17), since a singularity on one side of the equation must be balanced by a corresponding singularity on the other side. y
0.3
0.2
0.1
5
10
15
20
t
–0.1
FIGURE 6.5.3 Solution of the initial value problem (17), (18).
PROBLEMS
In each of Problems 1 through 12 find the solution of the given initial value problem and draw its graph.
䉴 䉴 䉴 䉴 䉴 䉴 䉴 䉴
1. 2. 3. 4. 5. 6. 7. 8.
y + 2y + 2y = δ(t − π ); y(0) = 1, y (0) = 0 y + 4y = δ(t − π ) − δ(t − 2π ); y(0) = 0, y (0) = 0 y + 3y + 2y = δ(t − 5) + u 10 (t); y(0) = 0, y (0) = 1/2 y − y = −20δ(t − 3); y(0) = 1, y (0) = 0 y + 2y + 3y = sin t + δ(t − 3π ); y(0) = 0, y (0) = 0 y + 4y = δ(t − 4π ); y(0) = 1/2, y (0) = 0 y + y = δ(t − 2π ) cos t; y(0) = 0, y (0) = 1 y + 4y = 2δ(t − π/4); y(0) = 0, y (0) = 0
329
6.5 Impulse Functions
y(0) = 0, y (0) = 0 䉴 9. y + y = u π/2 (t) + 3δ(t − 3π/2) − u 2π (t); y(0) = 0, y (0) = 0 䉴 10. 2y + y + 4y = δ(t − π/6) sin t; y(0) = 0, y (0) = 0 䉴 11. y + 2y + 2y = cos t + δ(t − π/2); y(0) = 0, y (0) = 0, y (0) = 0, y (0) = 0 䉴 12. y iv − y = δ(t − 1); 䉴 13. Consider again the system in Example 1 in the text in which an oscillation is excited by a unit impulse at t = 5. Suppose that it is desired to bring the system to rest again after exactly one cycle, that is, when the response first returns to equilibrium moving in the positive direction. (a) Determine the impulse kδ(t − t0 ) that should be applied to the system in order to accomplish this objective. Note that k is the magnitude of the impulse and t0 is the time of its application. (b) Solve the resulting initial value problem and plot its solution to confirm that it behaves in the specified manner. 䉴 14. Consider the initial value problem y + γ y + y = δ(t − 1),
y(0) = 0,
y (0) = 0,
where γ is the damping coefficient (or resistance). (a) Let γ = 12 . Find the solution of the initial value problem and plot its graph. (b) Find the time t1 at which the solution attains its maximum value. Also find the maximum value y1 of the solution. (c) Let γ = 14 and repeat parts (a) and (b). (d) Determine how t1 and y1 vary as γ decreases. What are the values of t1 and y1 when γ = 0? 䉴 15. Consider the initial value problem y + γ y + y = kδ(t − 1),
y(0) = 0,
y (0) = 0,
where k is the magnitude of an impulse at t = 1 and γ is the damping coefficient (or resistance). (a) Let γ = 12 . Find the value of k for which the response has a peak value of 2; call this value k1 . (b) Repeat part (a) for γ = 14 . (c) Determine how k1 varies as γ decreases. What is the value of k1 when γ = 0? 䉴 16. Consider the initial value problem y + y = f k (t),
y(0) = 0,
y (0) = 0,
where f k (t) = [u 4−k (t) − u 4+k (t)]/2k with 0 < k ≤ 1. (a) Find the solution y = φ(t, k) of the initial value problem. (b) Calculate lim φ(t, k) from the solution found in part (a). k→0
(c) Observe that lim f k (t) = δ(t − 4). Find the solution φ0 (t) of the given initial value k→0
problem with f k (t) replaced by δ(t − 4). Is it true that φ0 (t) = lim φ(t, k)? k→0
(d) Plot φ(t, 1/2), φ(t, 1/4), and φ0 (t) on the same axes. Describe the relation between φ(t, k) and φ0 (t). Problems 17 through 22 deal with the effect of a sequence of impulses on an undamped oscillator. Suppose that y(0) = 0, y (0) = 0. y + y = f (t), For each of the following choices for f (t): (a) Try to predict the nature of the solution without solving the problem. (b) Test your prediction by finding the solution and drawing its graph. (c) Determine what happens after the sequence of impulses ends.
330
Chapter 6. The Laplace Transform
䉴 17. f (t) =
20
䉴 18. f (t) =
δ(t − kπ )
k=1
䉴 19. f (t) =
20
15
(−1)k+1 δ(t − kπ )
k=1
䉴 20. f (t) =
δ(t − kπ/2)
k=1
䉴 21. f (t) =
20
20
(−1)k+1 δ(t − kπ/2)
k=1
䉴 22. f (t) =
δ[t − (2k − 1)π ]
k=1
40
(−1)k+1 δ(t − 11k/4)
k=1
䉴 23. The position of a certain lightly damped oscillator satisfies the initial value problem y + 0.1y + y =
20
(−1)k+1 δ(t − kπ ),
y(0) = 0,
y (0) = 0.
k=1
Observe that, except for the damping term, this problem is the same as Problem 18. (a) Try to predict the nature of the solution without solving the problem. (b) Test your prediction by finding the solution and drawing its graph. (c) Determine what happens after the sequence of impulses ends. 䉴 24. Proceed as in Problem 23 for the oscillator satisfying y + 0.1y + y =
15
δ[t − (2k − 1)π ],
y(0) = 0,
y (0) = 0.
k=1
Observe that, except for the damping term, this problem is the same as Problem 21. 25. (a) By the method of variation of parameters show that the solution of the initial value problem y + 2y + 2y = f (t); is
y=
t
y(0) = 0,
y (0) = 0
e−(t−τ ) f (τ ) sin(t − τ ) dτ.
0
(b) Show that if f (t) = δ(t − π ), then the solution of part (a) reduces to y = u π (t)e−(t−π ) sin(t − π ). (c) Use a Laplace transform to solve the given initial value problem with f (t) = δ(t − π ) and confirm that the solution agrees with the result of part (b).
6.6 The Convolution Integral Sometimes it is possible to identify a Laplace transform H (s) as the product of two other transforms F(s) and G(s), the latter transforms corresponding to known functions f and g, respectively. In this event, we might anticipate that H (s) would be the transform of the product of f and g. However, this is not the case; in other words, the Laplace transform cannot be commuted with ordinary multiplication. On the other hand, if an appropriately defined “generalized product” is introduced, then the situation changes, as stated in the following theorem.
331
6.6 The Convolution Integral
Theorem 6.6.1
If F(s) = L{ f (t)} and G(s) = L{g(t)} both exist for s > a ≥ 0, then H (s) = F(s)G(s) = L{h(t)}, where
h(t) =
t
f (t − τ )g(τ ) dτ =
0
t
s > a,
(1)
f (τ )g(t − τ ) dτ.
(2)
0
The function h is known as the convolution of f and g; the integrals in Eq. (2) are known as convolution integrals. The equality of the two integrals in Eq. (2) follows by making the change of variable t − τ = ξ in the first integral. Before giving the proof of this theorem let us make some observations about the convolution integral. According to this theorem, the transform of the convolution of two functions, rather than the transform of their ordinary product, is given by the product of the separate transforms. It is conventional to emphasize that the convolution integral can be thought of as a “generalized product” by writing h(t) = ( f ∗ g)(t).
(3)
In particular, the notation ( f ∗ g)(t) serves to indicate the first integral appearing in Eq. (2). The convolution f ∗ g has many of the properties of ordinary multiplication. For example, it is relatively simple to show that f ∗g=g∗ f f ∗ (g1 + g2 ) = f ∗ g1 + f ∗ g2 ( f ∗ g) ∗ h = f ∗ (g ∗ h) f ∗ 0 = 0 ∗ f = 0.
(commutative law) (distributive law) (associative law)
(4) (5) (6) (7)
The proofs of these properties are left to the reader. However, there are other properties of ordinary multiplication that the convolution integral does not have. For example, it is not true in general that f ∗ 1 is equal to f . To see this, note that t t f (t − τ ) · 1 dτ = f (t − τ ) dτ. ( f ∗ 1)(t) = 0
0
If, for example, f (t) = cos t, then t τ =t cos(t − τ ) dτ = − sin(t − τ ) ( f ∗ 1)(t) = 0
τ =0
= − sin 0 + sin t = sin t. Clearly, ( f ∗ 1)(t) = f (t). Similarly, it may not be true that f ∗ f is nonnegative. See Problem 3 for an example. Convolution integrals arise in various applications in which the behavior of the system at time t depends not only on its state at time t, but on its past history as well. Systems of this kind are sometimes called hereditary systems and occur in such diverse fields as neutron transport, viscoelasticity, and population dynamics.
332
Chapter 6. The Laplace Transform
Turning now to the proof of Theorem 6.6.1, we note first that if ∞ e−sξ f (ξ ) dξ F(s) = 0
and
∞
G(s) =
e−sη g(η) dη,
0
then
∞
F(s)G(s) =
e
−sξ
f (ξ ) dξ
0
∞
e−sη g(η) dη.
(8)
0
Since the integrand of the first integral does not depend on the integration variable of the second, we can write F(s)G(s) as an iterated integral, ∞ ∞ g(η) dη e−s(ξ +η) f (ξ ) dξ. (9) F(s)G(s) = 0
0
This expression can be put into a more convenient form by introducing new variables of integration. First let ξ = t − η, for fixed η. Then the integral with respect to ξ in Eq. (9) is transformed into one with respect to t; hence ∞ ∞ g(η) dη e−st f (t − η) dt. (10) F(s)G(s) = η
0
Next let η = τ ; then Eq. (10) becomes ∞ g(τ ) dτ F(s)G(s) =
τ
0
∞
e−st f (t − τ ) dt.
(11)
The integral on the right side of Eq. (11) is carried out over the shaded wedge-shaped region extending to infinity in the tτ -plane shown in Figure 6.6.1. Assuming that the order of integration can be reversed, we finally obtain t ∞ −st e dt f (t − τ )g(τ ) dτ, (12) F(s)G(s) = 0
0
τ
τ=t
t =τ
t→∞
τ=0
t
FIGURE 6.6.1 Region of integration in F(s)G(s).
333
6.6 The Convolution Integral
or
F(s)G(s) =
∞
e−st h(t) dt
0
= L{h(t)},
(13)
where h(t) is defined by Eq. (2). This completes the proof of Theorem 6.6.1.
Find the inverse transform of EXAMPLE
H (s) =
1
a . s (s + a 2 ) 2
2
(14)
It is convenient to think of H (s) as the product of s −2 and a/(s 2 + a 2 ), which, according to lines 3 and 5 of Table 6.2.1, are the transforms of t and sin at, respectively. Hence, by Theorem 6.6.1, the inverse transform of H (s) is t at − sin at (t − τ ) sin aτ dτ = . (15) h(t) = a2 0 You can verify that the same result is obtained if h(t) is written in the alternate form t h(t) = τ sin a(t − τ ) dτ, 0
which confirms Eq. (2) in this case. Of course, h(t) can also be found by expanding H (s) in partial fractions. Find the solution of the initial value problem EXAMPLE
y + 4y = g(t),
2
y(0) = 3,
y (0) = −1.
(16) (17)
By taking the Laplace transform of the differential equation and using the initial conditions, we obtain s 2 Y (s) − 3s + 1 + 4Y (s) = G(s), or G(s) 3s − 1 + 2 . (18) 2 s +4 s +4 Observe that the first and second terms on the right side of Eq. (18) contain the dependence of Y (s) on the initial conditions and forcing function, respectively. It is convenient to write Y (s) in the form Y (s) =
1 2 1 2 s − + G(s). 2 2 2 s +4 s +4 s2 + 4 Then, using lines 5 and 6 of Table 6.2.1 and Theorem 6.6.1, we obtain t 1 1 y = 3 cos 2t − 2 sin 2t + 2 sin 2(t − τ )g(τ ) dτ. Y (s) = 3
2
0
(19)
(20)
334
Chapter 6. The Laplace Transform
If a specific forcing function g is given, then the integral in Eq. (20) can be evaluated (by numerical means, if necessary).
Example 2 illustrates the power of the convolution integral as a tool for writing the solution of an initial value problem in terms of an integral. In fact, it is possible to proceed in much the same way in more general problems. Consider the problem consisting of the differential equation ay + by + cy = g(t),
(21)
where a, b, and c are real constants and g is a given function, together with the initial conditions y (0) = y0 .
y(0) = y0 ,
(22)
The transform approach yields some important insights concerning the structure of the solution of any problem of this type. The initial value problem (21), (22) is often referred to as an input–output problem. The coefficients a, b, and c describe the properties of some physical system, and g(t) is the input to the system. The values y0 and y0 describe the initial state, and the solution y is the output at time t. By taking the Laplace transform of Eq. (21) and using the initial conditions (22), we obtain (as 2 + bs + c)Y (s) − (as + b)y0 − ay0 = G(s). If we let (s) =
(as + b)y0 + ay0 as + bs + c 2
,
(s) =
G(s) , as + bs + c 2
(23)
then we can write Y (s) = (s) + (s).
(24)
y = φ(t) + ψ(t),
(25)
Consequently, where φ(t) = L−1 {(s)} and ψ(t) = L−1 {(s)}. Observe that y = φ(t) is a solution of the initial value problem ay + by + cy = 0,
y(0) = y0 ,
y (0) = y0 ,
(26)
obtained from Eqs. (21) and (22) by setting g(t) equal to zero. Similarly, y = ψ(t) is the solution of ay + by + cy = g(t),
y(0) = 0,
y (0) = 0,
(27)
in which the initial values y0 and y0 are each replaced by zero. Once specific values of a, b, and c are given, we can find φ(t) = L−1 {(s)} by using Table 6.2.1, possibly in conjunction with a translation or a partial fraction expansion. To find ψ(t) = L−1 {(s)} it is convenient to write (s) as (s) = H (s)G(s),
(28)
335
6.6 The Convolution Integral
where H (s) = (as 2 + bs + c)−1 . The function H is known as the transfer function3 and depends only on the properties of the system under consideration; that is, H (s) is determined entirely by the coefficients a, b, and c. On the other hand, G(s) depends only on the external excitation g(t) that is applied to the system. By the convolution theorem we can write t h(t − τ )g(τ ) dτ, (29) ψ(t) = L−1 {H (s)G(s)} = 0 −1
where h(t) = L {H (s)}, and g(t) is the given forcing function. To obtain a better understanding of the significance of h(t), we consider the case in which G(s) = 1; consequently, g(t) = δ(t) and (s) = H (s). This means that y = h(t) is the solution of the initial value problem ay + by + cy = δ(t),
y (0) = 0,
y(0) = 0,
(30)
obtained from Eq. (27) by replacing g(t) by δ(t). Thus h(t) is the response of the system to a unit impulse applied at t = 0, and it is natural to call h(t) the impulse response of the system. Equation (29) then says that ψ(t) is the convolution of the impulse response and the forcing function. Referring to Example 2, we note that in that case the transfer function is H (s) = 1/(s 2 + 4), and the impulse response is h(t) = (sin 2t)/2. Also, the first two terms on the right side of Eq. (20) constitute the function φ(t), the solution of the corresponding homogeneous equation that satisfies the given initial conditions.
PROBLEMS
1. Establish the commutative, distributive, and associative properties of the convolution integral. (a) f ∗ g = g ∗ f (b) f ∗ (g1 + g2 ) = f ∗ g1 + f ∗ g2 (c) f ∗ (g ∗ h) = ( f ∗ g) ∗ h 2. Find an example different from the one in the text showing that ( f ∗ 1)(t) need not be equal to f (t). 3. Show, by means of the example f (t) = sin t, that f ∗ f is not necessarily nonnegative. In each of Problems 4 through 7 find the Laplace transform of the given function. t t 4. f (t) = (t − τ )2 cos 2τ dτ 5. f (t) = e−(t−τ ) sin τ dτ 0
t
6. f (t) =
(t − τ )eτ dτ
0 t
7. f (t) =
0
sin(t − τ ) cos τ dτ
0
In each of Problems 8 through 11 find the inverse Laplace transform of the given function by using the convolution theorem. 8. F(s) = 10. F(s) =
1 s (s + 1) 4
2
1 (s + 1) (s 2 + 4) 2
9. F(s) = 11. F(s) =
s (s + 1)(s 2 + 4) G(s) s2 + 1
3 This terminology arises from the fact that H (s) is the ratio of the transforms of the output and the input of the problem (27).
336
Chapter 6. The Laplace Transform
In each of Problems 12 through 19 express the solution of the given initial value problem in terms of a convolution integral. 12. 13. 14. 15. 16. 17. 18. 19. 20.
y(0) = 0, y (0) = 1 y + ω2 y = g(t); y(0) = 0, y (0) = 0 y + 2y + 2y = sin αt; 4y + 4y + 17y = g(t); y(0) = 0, y (0) = 0 5 y(0) = 1, y (0) = −1 y + y + 4 y = 1 − u π (t); y + 4y + 4y = g(t); y(0) = 2, y (0) = −3 y + 3y + 2y = cos αt; y(0) = 1, y (0) = 0 y iv − y = g(t); y(0) = 0, y (0) = 0, y (0) = 0, y (0) = 0 y(0) = 1, y (0) = 0, y (0) = 0, y (0) = 0 y iv + 5y + 4y = g(t); Consider the equation t φ(t) + k(t − ξ )φ(ξ ) dξ = f (t), 0
in which f and k are known functions, and φ is to be determined. Since the unknown function φ appears under an integral sign, the given equation is called an integral equation; in particular, it belongs to a class of integral equations known as Volterra integral equations. Take the Laplace transform of the given integral equation and obtain an expression for L{φ(t)} in terms of the transforms L{ f (t)} and L{k(t)} of the given functions f and k. The inverse transform of L{φ(t)} is the solution of the original integral equation. 21. Consider the Volterra integral equation (see Problem 20) t (t − ξ )φ(ξ ) dξ = sin 2t. φ(t) + 0
(a) Show that if u is a function such that u (t) = φ(t), then u (t) + u(t) − tu (0) − u(0) = sin 2t. (b) Show that the given integral equation is equivalent to the initial value problem u (t) + u(t) = sin 2t;
u(0) = 0,
u (0) = 0.
(c) Solve the given integral equation by using the Laplace transform. (d) Solve the initial value problem of part (b) and verify that the solution is the same as that obtained in part (c). 22. The Tautochrone. A problem of interest in the history of mathematics is that of finding the tautochrone—the curve down which a particle will slide freely under gravity alone, reaching the bottom in the same time regardless of its starting point on the curve. This problem arose in the construction of a clock pendulum whose period is independent of the amplitude of its motion. The tautochrone was found by Christian Huygens (1629– 1695) in 1673 by geometrical methods, and later by Leibniz and Jakob Bernoulli using analytical arguments. Bernoulli’s solution (in 1690) was one of the first occasions on which a differential equation was explicitly solved. The geometrical configuration is shown in Figure 6.6.2. The starting point P(a, b) is joined to the terminal point (0, 0) by the arc C. Arc length s is measured from the origin, and f (y) denotes the rate of change of s with respect to y: 2 1/2 ds dx . (i) f (y) = = 1+ dy dy Then it follows from the principle of conservation of energy that the time T (b) required for a particle to slide from P to the origin is b f (y) 1 dy. (ii) T (b) = √ √ 2g 0 b−y
337
6.6 The Convolution Integral y P(a, b) C
s x
FIGURE 6.6.2 The tautochrone. (a) Assume that T (b) = T0 , a constant, for each b. By taking the Laplace transform of Eq. (ii) in this case and using the convolution theorem, show that 2g T0 F(s) = (iii) √ ; π s then show that
f (y) =
2g T0 √ . π y
Hint: See Problem 27 of Section 6.1. (b) Combining Eqs. (i) and (iv), show that dx 2α − y = , dy y
(iv)
(v)
where α = gT02 /π 2 . (c) Use the substitution y = 2α sin2 (θ/2) to solve Eq. (v), and show that x = α(θ + sin θ ),
y = α(1 − cos θ ).
(vi)
Equations (vi) can be identified as parametric equations of a cycloid. Thus the tautochrone is an arc of a cycloid.
REFERENCES
The books listed below contain additional information on the Laplace transform and its applications:
Churchill, R. V., Operational Mathematics (3rd ed.) (New York: McGraw-Hill, 1971). Doetsch, G., Nader, W. (tr.), Introduction to the Theory and Application of the Laplace Transform (New York: Springer-Verlag, 1974). Kaplan, W., Operational Methods for Linear Systems (Reading, MA: Addison-Wesley, 1962). Kuhfittig, P. K. F., Introduction to the Laplace Transform (New York: Plenum, 1978). Miles, J. W., Integral Transforms in Applied Mathematics (London: Cambridge University Press, 1971). Rainville, E. D., The Laplace Transform: An Introduction (New York: Macmillan, 1963). Each of the books just mentioned contains a table of transforms. Extensive tables are also available; see, for example:
Erdelyi, A. (ed.), Tables of Integral Transforms (Vol. 1) (New York: McGraw-Hill, 1954).
338
Chapter 6. The Laplace Transform Roberts, G. E., and Kaufman, H., Table of Laplace Transforms (Philadelphia: Saunders, 1966). A further discussion of generalized functions can be found in:
Lighthill, M. J., Fourier Analysis and Generalized Functions (London: Cambridge University Press, 1958).
CHAPTER
7
Systems of First Order Linear Equations
There are many physical problems that involve a number of separate elements linked together in some manner. For example, electrical networks have this character, as do some problems in mechanics or in other fields. In these and similar cases the corresponding mathematical problem consists of a system of two or more differential equations, which can always be written as first order equations. In this chapter we focus on systems of first order linear equations, utilizing some of the elementary aspects of linear algebra to unify the presentation.
7.1 Introduction Systems of simultaneous ordinary differential equations arise naturally in problems involving several dependent variables, each of which is a function of a single independent variable. We will denote the independent variable by t, and let x1 , x2 , x3 , . . . represent dependent variables that are functions of t. Differentiation with respect to t will be denoted by a prime. For example, consider the spring–mass system in Figure 7.1.1. The two masses move on a frictionless surface under the influence of external forces F1 (t) and F2 (t), and they are also constrained by the three springs whose constants are k1 , k2 , and k3 ,
339
340
Chapter 7. Systems of First Order Linear Equations
respectively. Using arguments similar to those in Section 3.8, we find the following equations for the coordinates x1 and x2 of the two masses: m1
d 2 x1 dt 2
= k2 (x2 − x1 ) − k1 x1 + F1 (t) = −(k1 + k2 )x1 + k2 x2 + F1 (t),
2
m2
d x2 dt 2
(1)
= −k3 x2 − k2 (x2 − x1 ) + F2 (t) = k2 x1 − (k2 + k3 )x2 + F2 (t).
A derivation of Eqs. (1) is outlined in Problem 17. F1(t)
F2(t) k2
k1
k3
m1
m2 x1
x2
FIGURE 7.1.1 A two degrees of freedom spring–mass system.
Next, consider the parallel LRC circuit shown in Figure 7.1.2. Let V be the voltage drop across the capacitor and I the current through the inductor. Then, referring to Section 3.8 and to Problem 18 of this section, we can show that the voltage and current are described by the system of equations V dI = , dt L
(2) I V dV =− − , dt C RC where L is the inductance, C the capacitance, and R the resistance. As a final example, we mention the predator–prey problem, one of the fundamental problems of mathematical ecology, which is discussed in more detail in Section 9.5. Let H (t) and P(t) denote the populations at time t of two species, one of which (P) preys on the other (H ). For example, P(t) and H (t) may be the number of foxes and rabbits, respectively, in a woods, or the number of bass and redear (which are eaten by bass) in a pond. Without the prey the predators will decrease, and without the predator C R L
FIGURE 7.1.2 A parallel LRC circuit.
341
7.1 Introduction
the prey will increase. A mathematical model showing how an ecological balance can be maintained when both are present was proposed about 1925 by Lotka and Volterra. The model consists of the system of differential equations dH/dt = a1 H − b1 HP, dP/dt = −a2 P + b2 HP,
(3)
known as the predator–prey equations. In Eqs. (3) the coefficient a1 is the birth rate of the population H ; similarly, a2 is the death rate of the population P. The HP terms in the two equations model the interaction of the two populations. The number of encounters between predator and prey is assumed to be proportional to the product of the populations. Since any such encounter tends to be good for the predator and bad for the prey, the sign of the HP term is negative in the first equation and positive in the second. The coefficients b1 and b2 are the coefficients of interaction between predator and prey. Another reason for the importance of systems of first order equations is that equations of higher order can always be transformed into such systems. This is usually required if a numerical approach is planned, because almost all codes for generating approximate numerical solutions of differential equations are written for systems of first order equations. The following example illustrates how easy it is to make the transformation.
EXAMPLE
1
The motion of a certain spring–mass system (see Example 3 of Section 3.8) is described by the second order differential equation u + 0.125u + u = 0.
(4)
Rewrite this equation as a system of first order equations. Let x1 = u and x2 = u . Then it follows that x1 = x2 . Further, u = x2 . Then, by substituting for u, u , and u in Eq. (4), we obtain x2 + 0.125x2 + x1 = 0. Thus x1 and x2 satisfy the following system of two first order differential equations: x1 = x2 , x2 = −x1 − 0.125x2 .
(5)
The general equation of motion of a spring–mass system, mu + γ u + ku = F(t),
(6)
can be transformed to a system of first order equations in the same manner. If we let x1 = u and x2 = u , and proceed as in Example 1, we quickly obtain the system x1 = x2 , x2 = −(k/m)x1 − (γ /m)x2 + F(t)/m.
(7)
To transform an arbitrary nth order equation y (n) = F(t, y, y , . . . , y (n−1) )
(8)
342
Chapter 7. Systems of First Order Linear Equations
into a system of n first order equations we extend the method of Example 1 by introducing the variables x1 , x2 , . . . , xn defined by x1 = y,
x2 = y ,
x3 = y ,
xn = y (n−1) .
...,
(9)
It then follows immediately that x1 = x2 , x2 = x3 , .. . xn−1 = xn ,
(10)
xn = F(t, x1 , x2 , . . . , xn ).
(11)
and from Eq. (8)
Equations (10) and (11) are a special case of the more general system x1 = F1 (t, x1 , x2 , . . . , xn ), x2 = F2 (t, x1 , x2 , . . . , xn ), .. . xn = Fn (t, x1 , x2 , . . . , xn ).
(12)
In a similar way the system (1) can be reduced to a system of four first order equations of the form (12), while the systems (2) and (3) are already in this form. In fact, systems of the form (12) include almost all cases of interest, so much of the more advanced theory of differential equations is devoted to such systems. The system (12) is said to have a solution on the interval I : α < t < β if there exists a set of n functions x1 = φ1 (t),
x2 = φ2 (t),
...,
xn = φn (t),
(13)
that are differentiable at all points in the interval I and that satisfy the system of equations (12) at all points in this interval. In addition to the given system of differential equations there may also be given initial conditions of the form x1 (t0 ) = x10 ,
x2 (t0 ) = x20 ,
...,
xn (t0 ) = xn0 ,
(14)
where t0 is a specified value of t in I , and x10 , . . . , xn0 are prescribed numbers. The differential equations (12) and initial conditions (14) together form an initial value problem. A solution (13) can be viewed as a set of parametric equations in an n-dimensional space. For a given value of t, Eqs. (13) give values for the coordinates x1 , . . . , xn of a point in the space. As t changes, the coordinates in general also change. The collection of points corresponding to α < t < β form a curve in the space. It is often helpful to think of the curve as the trajectory or path of a particle moving in accordance with the system of differential equations (12). The initial conditions (14) determine the starting point of the moving particle. The following conditions on F1 , F2 , . . . , Fn , which are easily checked in specific problems, are sufficient to assure that the initial value problem (12), (14) has a unique solution. Theorem 7.1.1 is analogous to Theorem 2.4.2, the existence and uniqueness theorem for a single first order equation.
343
7.1 Introduction
Theorem 7.1.1
Let each of the functions F1 , . . . , Fn and the partial derivatives ∂ F1 /∂ x1 , . . . , ∂ F1 /∂ xn , . . . , ∂ Fn /∂ x1 , . . . , ∂ Fn /∂ xn be continuous in a region R of t x1 x2 · · · xn space defined by α < t < β, α1 < x1 < β1 , . . . , αn < xn < βn , and let the point (t0 , x10 , x20 , . . . , xn0 ) be in R. Then there is an interval |t − t0 | < h in which there exists a unique solution x1 = φ1 (t), . . . , xn = φn (t) of the system of differential equations (12) that also satisfies the initial conditions (14). The proof of this theorem can be constructed by generalizing the argument in Section 2.8, but we do not give it here. However, note that in the hypotheses of the theorem nothing is said about the partial derivatives of F1 , . . . , Fn with respect to the independent variable t. Also, in the conclusion, the length 2h of the interval in which the solution exists is not specified exactly, and in some cases may be very short. Finally, the same result can be established on the basis of somewhat weaker, but more complicated hypotheses, so the theorem as stated is not the most general one known, and the given conditions are sufficient, but not necessary, for the conclusion to hold. If each of the functions F1 , . . . , Fn in Eqs. (12) is a linear function of the dependent variables x1 , . . . , xn , then the system of equations is said to be linear; otherwise, it is nonlinear. Thus the most general system of n first order linear equations has the form x1 = p11 (t)x1 + · · · + p1n (t)xn + g1 (t), x2 = p21 (t)x1 + · · · + p2n (t)xn + g2 (t), .. . xn = pn1 (t)x1 + · · · + pnn (t)xn + gn (t).
(15)
If each of the functions g1 (t), . . . , gn (t) is zero for all t in the interval I , then the system (15) is said to be homogeneous; otherwise, it is nonhomogeneous. Observe that the systems (1) and (2) are both linear, but the system (3) is nonlinear. The system (1) is nonhomogeneous unless F1 (t) = F2 (t) = 0, while the system (2) is homogeneous. For the linear system (15) the existence and uniqueness theorem is simpler and also has a stronger conclusion. It is analogous to Theorems 2.4.1 and 3.2.1.
Theorem 7.1.2
If the functions p11 , p12 , . . . , pnn , g1 , . . . , gn are continuous on an open interval I : α < t < β, then there exists a unique solution x1 = φ1 (t), . . . , xn = φn (t) of the system (15) that also satisfies the initial conditions (14), where t0 is any point in I and x10 , . . . , xn0 are any prescribed numbers. Moreover, the solution exists throughout the interval I . Note that in contrast to the situation for a nonlinear system the existence and uniqueness of the solution of a linear system are guaranteed throughout the interval in which the hypotheses are satisfied. Furthermore, for a linear system the initial values x10 , . . . , xn0 at t = t0 are completely arbitrary, whereas in the nonlinear case the initial point must lie in the region R defined in Theorem 7.1.1. The rest of this chapter is devoted to systems of linear first order equations (nonlinear systems are included in the discussion in Chapters 8 and 9). Our presentation makes use of matrix notation and assumes that you have some familiarity with the properties of matrices. The basic facts about matrices are summarized in Sections 7.2 and 7.3 and some more advanced material is reviewed as needed in later sections.
344
PROBLEMS
Chapter 7. Systems of First Order Linear Equations
In each of Problems 1 through 4 transform the given equation into a system of first order equations. 2. u + 0.5u + 2u = 3 sin t 1. u + 0.5u + 2u = 0 3. t 2 u + tu + (t 2 − 0.25)u = 0 4. u − u = 0 5. Consider the initial value problem u + p(t)u + q(t)u = g(t), u(0) = u 0 , u (0) = u 0 . Transform this problem into an initial value problem for two first order equations. 6. Reduce the system (1) to a system of first order equations of the form (12). 7. Systems of first order equations can sometimes be transformed into a single equation of higher order. Consider the system x1 = −2x1 + x2 ,
x2 = x1 − 2x2 .
(a) Solve the first equation for x2 and substitute into the second equation, thereby obtaining a second order equation for x1 . Solve this equation for x1 and then determine x2 also. (b) Find the solution of the given system that also satisfies the initial conditions x1 (0) = 2, x2 (0) = 3. (c) Sketch the curve, for t ≥ 0, given parametrically by the expressions for x1 and x2 obtained in part (b). In each of Problems 8 through 12 proceed as in Problem 7 to transform the given system into a single equation of second order. Then find x1 and x2 that also satisfy the given initial conditions. Finally, sketch the graph of the solution in the x1 x2 -plane for t ≥ 0. 8. x1 = 3x1 − 2x2 , 10. 12.
9. x1 = 1.25x1 + 0.75x2 ,
x1 (0) = 3
x2 x1 x2
= 2x1 − 2x2 ,
x1 x2
= −0.5x1 + 2x2 ,
x1 (0) = −2
= −2x1 − 0.5x2 ,
x2 (0) = 2
x2 (0) =
1 2
= x1 − 2x2 ,
x1 (0) = −1
= 3x1 − 4x2 ,
x2 (0) = 2
11.
x2
= 0.75x1 + 1.25x2 ,
x1 x2
= 2x2 , = −2x1 ,
x1 (0) = −2 x2 (0) = 1
x1 (0) = 3 x2 (0) = 4
13. Transform Eqs. (2) for the parallel circuit into a single second order equation. 14. Show that if a11 , a12 , a21 , and a22 are constants with a12 and a21 not both zero, and if the functions g1 and g2 are differentiable, then the initial value problem x1 = a11 x1 + a12 x2 + g1 (t),
x1 (0) = x10
x2 = a21 x1 + a22 x2 + g2 (t),
x2 (0) = x20
can be transformed into an initial value problem for a single second order equation. Can the same procedure be carried out if a11 , . . . , a22 are functions of t? 15. Consider the linear homogeneous system x = p11 (t)x + p12 (t)y, y = p21 (t)x + p22 (t)y. Show that if x = x1 (t), y = y1 (t) and x = x2 (t), y = y2 (t) are two solutions of the given system, then x = c1 x1 (t) + c2 x2 (t), y = c1 y1 (t) + c2 y2 (t) is also a solution for any constants c1 and c2 . This is the principle of superposition. 16. Let x = x1 (t), y = y1 (t) and x = x2 (t), y = y2 (t) be any two solutions of the linear nonhomogeneous system x = p11 (t)x + p12 (t)y + g1 (t), y = p21 (t)x + p22 (t)y + g2 (t).
345
7.1 Introduction
Show that x = x1 (t) − x2 (t), y = y1 (t) − y2 (t) is a solution of the corresponding homogeneous system. 17. Equations (1) can be derived by drawing a free-body diagram showing the forces acting on each mass. Figure 7.1.3a shows the situation when the displacements x1 and x2 of the two masses are both positive (to the right) and x2 > x1 . Then springs 1 and 2 are elongated and spring 3 is compressed, giving rise to forces as shown in Figure 7.1.3b. Use Newton’s law (F = ma) to derive Eqs. (1). k1
k3
k2 m1
m2
x1
x2
(a)
k1x1
F1(t)
k2(x2 – x1)
m1 k2(x2 – x1)
(b)
F2(t) m2 k3 x2
FIGURE 7.1.3 (a) The displacements x1 and x2 are both positive. (b) The free-body diagram for the spring–mass system. Electric Circuits. The theory of electric circuits, such as that shown in Figure 7.1.2, consisting of inductors, resistors, and capacitors, is based on Kirchhoff’s laws: (1) The net flow of current through each node (or junction) is zero, (2) the net voltage drop around each closed loop is zero. In addition to Kirchhoff’s laws we also have the relation between the current I in amperes through each circuit element and the voltage drop V in volts across the element; namely, V = R I, R = resistance in ohms; dV = I, C = capacitance in farads1; C dt dI = V, L = inductance in henrys. L dt Kirchhoff’s laws and the current–voltage relation for each circuit element provide a system of algebraic and differential equations from which the voltage and current throughout the circuit can be determined. Problems 18 through 20 illustrate the procedure just described. 18. Consider the circuit shown in Figure 7.1.2. Let I1 , I2 , and I3 be the current through the capacitor, resistor, and inductor, respectively. Likewise, let V1 , V2 , and V3 be the corresponding voltage drops. The arrows denote the arbitrarily chosen directions in which currents and voltage drops will be taken to be positive. (a) Applying Kirchhoff’s second law to the upper loop in the circuit, show that V1 − V2 = 0.
(i)
V2 − V3 = 0.
(ii)
In a similar way, show that
1
Actual capacitors typically have capacitances measured in microfarads. We use farad as the unit for numerical convenience.
346
Chapter 7. Systems of First Order Linear Equations
(b) Applying Kirchhoff’s first law to either node in the circuit, show that I1 + I2 + I3 = 0.
(iii)
(c) Use the current–voltage relation through each element in the circuit to obtain the equations C V1 = I1 ,
L I3 = V3 .
V2 = R I2 ,
(iv)
(d) Eliminate V2 , V3 , I1 , and I2 among Eqs. (i) through (iv) to obtain V1 (v) , L I3 = V1 . R Observe that if we omit the subscripts in Eqs. (v), then we have the system (2) of the text. 19. Consider the circuit shown in Figure 7.1.4. Use the method outlined in Problem 18 to show that the current I through the inductor and the voltage V across the capacitor satisfy the system of differential equations C V1 = −I3 −
dV = 2I − V. dt
dI = −I − V, dt
R = 1 ohm
L = 1 henry
R = 2 ohms
C=
1 2
farad
FIGURE 7.1.4 The circuit in Problem 19. 20. Consider the circuit shown in Figure 7.1.5. Use the method outlined in Problem 18 to show that the current I through the inductor and the voltage V across the capacitor satisfy the system of differential equations L
dI = −R1 I − V, dt
C
dV V . =I− dt R2
L R1
R2
C
FIGURE 7.1.5 The circuit in Problem 20. 21. Consider the two interconnected tanks shown in Figure 7.1.6. Tank 1 initially contains 30 gal of water and 25 oz of salt, while Tank 2 initially contains 20 gal of water and 15 oz
347
7.1 Introduction 1.5 gal/min
1 gal/min
1 oz/gal
3 oz/gal
3 gal/min Q1(t) oz salt
Q2(t) oz salt
30 gal water
20 gal water 1.5 gal/min
Tank 1
2.5 gal/min
Tank 2
FIGURE 7.1.6 Two interconnected tanks (Problem 21).
of salt. Water containing 1 oz/gal of salt flows into Tank 1 at a rate of 1.5 gal/min. The mixture flows from Tank 1 to Tank 2 at a rate of 3 gal/min. Water containing 3 oz/gal of salt also flows into Tank 2 at a rate of 1 gal/min (from the outside). The mixture drains from Tank 2 at a rate of 4 gal/min, of which some flows back into Tank 1 at a rate of 1.5 gal/min, while the remainder leaves the system. (a) Let Q 1 (t) and Q 2 (t), respectively, be the amount of salt in each tank at time t. Write down differential equations and initial conditions that model the flow process. Observe that the system of differential equations is nonhomogeneous. (b) Find the values of Q 1 and Q 2 for which the system is in equilibrium, that is, does not change with time. Let Q 1E and Q 2E be the equilibrium values. Can you predict which tank will approach its equilibrium state more rapidly? (c) Let x1 = Q 1 (t) − Q 1E and x2 = Q 2 (t) − Q 2E . Determine an initial value problem for x1 and x2 . Observe that the system of equations for x1 and x2 is homogeneous. 22. Consider two interconnected tanks similar to those in Figure 7.1.6. Tank 1 initially contains 60 gal of water and Q 01 oz of salt, while Tank 2 initially contains 100 gal of water and Q 02 oz of salt. Water containing q1 oz/gal of salt flows into Tank 1 at a rate of 3 gal/min. The mixture in Tank 1 flows out at a rate of 4 gal/min, of which half flows into Tank 2 while the remainder leaves the system. Water containing q2 oz/gal of salt also flows into Tank 2 from the outside at the rate of 1 gal/min. The mixture in Tank 2 leaves the tank at a rate of 3 gal/min, of which 1 gal/min flows back into Tank 1, while the rest leaves the system. (a) Draw a diagram that depicts the flow process described above. Let Q 1 (t) and Q 2 (t), respectively, be the amount of salt in each tank at time t. Write down differential equations and initial conditions for Q 1 and Q 2 that model the flow process. (b) Find the equilibrium values Q 1E and Q 2E in terms of the concentrations q1 and q2 . (c) Is it possible (by adjusting q1 and q2 ) to obtain Q 1E = 60 and Q 2E = 50 as an equilibrium state? (d) Describe which equilibrium states are possible for this system for various values of q1 and q2 .
348
Chapter 7. Systems of First Order Linear Equations
7.2 Review of Matrices For both theoretical and computational reasons it is advisable to bring to bear some of the results of matrix theory2 on the initial value problem for a system of linear differential equations. For reference purposes this section and the next are devoted to a brief summary of the facts that will be needed later. More details can be found in any elementary book on linear algebra. We assume, however, that you are familiar with determinants and how to evaluate them. We designate matrices by boldfaced capitals A, B, C, . . . , occasionally using boldfaced Greek capitals ⌽, ⌿, . . . . A matrix A consists of a rectangular array of numbers, or elements, arranged in m rows and n columns, that is, a11 a12 · · · a1n a21 a22 · · · a2n (1) A= .. .. . .. . . . am1
am2
···
amn
We speak of A as an m × n matrix. Although later in the chapter we will often assume that the elements of certain matrices are real numbers, in this section we assume that the elements of matrices may be complex numbers. The element lying in the ith row and jth column is designated by ai j , the first subscript identifying its row and the second its column. Sometimes the notation (ai j ) is used to denote the matrix whose generic element is ai j . Associated with each matrix A is the matrix AT , known as the transpose of A, and obtained from A by interchanging the rows and columns of A. Thus, if A = (ai j ), then AT = (a ji ). Also, we will denote by a i j the complex conjugate of ai j , and by A the matrix obtained from A by replacing each element ai j by its conjugate a i j . The matrix A is called the conjugate of A. It will also be necessary to consider the transpose T of the conjugate matrix A . This matrix is called the adjoint of A and will be denoted by A∗ . For example, let 3 2−i A= . 4 + 3i −5 + 2i Then
3 A = 2−i T
4 + 3i , −5 + 2i A∗ =
2
3 2+i
3 A= 4 − 3i
2+i , −5 − 2i
4 − 3i . −5 − 2i
The properties of matrices were first extensively explored in 1858 in a paper by the English algebraist Arthur Cayley (1821–1895), although the word matrix was introduced by his good friend James Sylvester (1814 –1897) in 1850. Cayley did some of his best mathematical work while practicing law from 1849 to 1863; he then became professor of mathematics at Cambridge, a position he held for the rest of his life. After Cayley’s groundbreaking work, the development of matrix theory proceeded rapidly, with significant contributions by Charles Hermite, Georg Frobenius, and Camille Jordan, among others.
349
7.2 Review of Matrices
We are particularly interested in two somewhat special kinds of matrices: square matrices, which have the same number of rows and columns, that is, m = n; and vectors (or column vectors), which can be thought of as n × 1 matrices, or matrices having only one column. Square matrices having n rows and n columns are said to be of order n. We denote (column) vectors by boldfaced lowercase letters, x, y, , , . . . . The transpose xT of an n × 1 column vector is a 1 × n row vector, that is, the matrix consisting of one row whose elements are the same as the elements in the corresponding positions of x. Properties of Matrices. 1. Equality. Two m × n matrices A and B are said to be equal if all corresponding elements are equal, that is, if ai j = bi j for each i and j. 2. Zero. The symbol 0 will be used to denote the matrix (or vector), each of whose elements is zero. 3. Addition. The sum of two m × n matrices A and B is defined as the matrix obtained by adding corresponding elements: A + B = (ai j ) + (bi j ) = (ai j + bi j ).
(2)
With this definition it follows that matrix addition is commutative and associative, so that A + B = B + A,
A + (B + C) = (A + B) + C.
(3)
4. Multiplication by a Number. The product of a matrix A by a complex number α is defined as follows: αA = α(ai j ) = (αai j ).
(4)
The distributive laws α(A + B) = αA + αB,
(α + β)A = αA + βA
(5)
are satisfied for this type of multiplication. In particular, the negative of A, denoted by −A, is defined by −A = (−1)A.
(6)
5. Subtraction. The difference A − B of two m × n matrices is defined by A − B = A + (−B).
(7)
A − B = (ai j ) − (bi j ) = (ai j − bi j ),
(8)
Thus
which is similar to Eq. (2). 6. Multiplication. The product AB of two matrices is defined whenever the number of columns of the first factor is the same as the number of rows in the second. If A and B are m × n and n × r matrices, respectively, then the product C = AB is an m × r matrix. The element in the ith row and jth column of C is found by multiplying each element of the ith row of A by the corresponding element of the jth column of B and then adding the resulting products. Symbolically, n aik bk j . (9) ci j = k=1
350
Chapter 7. Systems of First Order Linear Equations
By direct calculation it can be shown that matrix multiplication satisfies the associative law (AB)C = A(BC)
(10)
A(B + C) = AB + AC.
(11)
and the distributive law
However, in general, matrix multiplication is not commutative. For both products AB and BA to exist and to be of the same size, it is necessary that A and B be square matrices of the same order. Even in that case the two products are usually unequal, so that, in general AB = BA.
EXAMPLE
1
(12)
To illustrate the multiplication of matrices, and also the fact that matrix multiplication is not necessarily commutative, consider the matrices 2 1 −1 1 −2 1 B = 1 −1 A = 0 0 . 2 −1 , 2 −1 1 2 1 1 From the definition of multiplication given in Eq. (9) we have 2−2+2 1 + 2 − 1 −1 + 0 + 1 AB = 0 + 2 − 2 0−2+1 0 + 0 − 1 4+1+2 2 − 1 − 1 −2 + 0 + 1 2 2 0 = 0 −1 −1 . 7 0 −1 Similarly, we find that
0 2 . 4
−3 −4 −5
0 BA = 1 4 Clearly, AB = BA.
7. Multiplication of Vectors. Matrix multiplication also applies as a special case if the matrices A and B are 1 × n and n × 1 row and column vectors, respectively. Denoting these vectors by xT and y we have xT y =
n
xi yi .
(13)
i=1
This is the extension to n dimensions of the familiar dot product from physics and calculus. The result of Eq. (13) is a (complex) number, and it follows directly from Eq. (13) that xT y = yT x,
xT (y + z) = xT y + xT z,
(αx)T y = α(xT y) = xT (αy).
(14)
351
7.2 Review of Matrices
There is another vector product that is also defined for any two vectors having the same number of components. This product, denoted by (x, y), is called the scalar or inner product, and is defined by (x, y) =
n
xi y i ,
(15)
i=1
The scalar product is also a (complex) number, and by comparing Eqs. (13) and (15) we see that (x, y) = xT y.
(16)
Thus, if all of the elements of y are real, then the two products (13) and (15) are identical. From Eq. (15) it follows that (x, y) = (y, x),
(x, y + z) = (x, y) + (x, z), (x, αy) = α(x, y).
(αx, y) = α(x, y),
(17)
Note that even if the vector x has elements with nonzero imaginary parts, the scalar product of x with itself yields a nonnegative real number, (x, x) =
n
xi x i =
i=1
n
|xi |2 .
(18)
i=1
The nonnegative quantity (x, x)1/2 , often denoted by x , is called the length, or magnitude, of x. If (x, y) = 0, then the two vectors x and y are said to be orthogonal. For example, the unit vectors i, j, k of three-dimensional vector geometry form an orthogonal set. On the other hand, if some of the elements of x are not real, then the matrix product xT x =
n
xi2
(19)
i=1
may not be a real number. For example, let
i x = −2 , 1+i
2−i y = i . 3
Then xT y = (i)(2 − i) + (−2)(i) + (1 + i)(3) = 4 + 3i, (x, y) = (i)(2 + i) + (−2)(−i) + (1 + i)(3) = 2 + 7i, xT x = (i)2 + (−2)2 + (1 + i)2 = 3 + 2i, (x, x) = (i)(−i) + (−2)(−2) + (1 + i)(1 − i) = 7. 8. Identity. The multiplicative identity, or simply the identity matrix I, is given by 1 0 ··· 0 0 1 · · · 0 I= . (20) .. ... ... . 0
0
···
1
352
Chapter 7. Systems of First Order Linear Equations
From the definition of matrix multiplication we have AI = IA = A
(21)
for any (square) matrix A. Hence the commutative law does hold for square matrices if one of the matrices is the identity. 9. Inverse. The matrix A is said to be nonsingular or invertible if there is another matrix B such that AB = I and BA = I, where I is the identity. If there is such a B, it can be shown that there is only one. It is called the multiplicative inverse, or simply the inverse, of A, and we write B = A−1 . Then AA−1 = A−1 A = I.
(22)
Matrices that do not have an inverse are called singular or noninvertible. There are various ways to compute A−1 from A, assuming that it exists. One way involves the use of determinants. Associated with each element ai j of a given matrix is the minor Mi j , which is the determinant of the matrix obtained by deleting the ith row and jth column of the original matrix, that is, the row and column containing ai j . Also associated with each element ai j is the cofactor Ci j defined by the equation Ci j = (−1)i+ j Mi j .
(23)
If B = A−1 , then it can be shown that the general element bi j is given by bi j =
C ji det A
.
(24)
While Eq. (24) is not an efficient way3 to calculate A−1 , it does suggest a condition that A must satisfy for it to have an inverse. In fact, the condition is both necessary and sufficient: A is nonsingular if and only if det A = 0. If det A = 0, then A is singular. Another and usually better way to compute A−1 is by means of elementary row operations. There are three such operations: 1. 2. 3.
Interchange of two rows. Multiplication of a row by a nonzero scalar. Addition of any multiple of one row to another row.
Any nonsingular matrix A can be transformed into the identity I by a systematic sequence of these operations. It is possible to show that if the same sequence of operations is then performed on I, it is transformed into A−1 . The transformation of a matrix by a sequence of elementary row operations is referred to as row reduction or Gaussian elimination. The following example illustrates the calculation of an inverse matrix in this way. 3 For large n the number of multiplications required to evaluate A−1 by Eq. (24) is proportional to n!. If one uses more efficient methods, such as the row reduction procedure described later, the number of multiplications is proportional only to n 3 . Even for small values of n (such as n = 4), determinants are not an economical tool in calculating inverses, and row reduction methods are preferred.
353
7.2 Review of Matrices
Find the inverse of EXAMPLE
1 A = 3 2
2
−1 −1 2
−1 2 . 3
The matrix A can be transformed into I by the following sequence of operations. The result of each step appears below the statement. (a)
Obtain zeros in the off-diagonal positions in the first column by adding (−3) times the first row to the second row and adding (−2) times the first row to the third row. 1 −1 −1 0 2 5 0 4 5
(b)
Obtain a 1 in the diagonal position in the second column by multiplying the second row by 12 . 1 −1 −1 5 1 0 2 0
4
5
(c)
Obtain zeros in the off-diagonal positions in the second column by adding the second row to the first row and adding (−4) times the second row to the third row. 3 1 0 2 5 1 0 2 0 0 −5
(d)
Obtain a 1 in the diagonal position in the third column by multiplying the third row by (− 15 ). 1 0 32 0 1 52 0 0 1
(e)
Obtain zeros in the off-diagonal positions in the third column by adding (− 32 ) times the third row to the first row and adding (− 52 ) times the third row to the second row. 1 0 0 0 1 0 0 0 1
If we perform the same sequence of operations in the same order on I, we obtain the following sequence of matrices: 1 0 0 1 0 0 1 0 0 3 1 −3 1 0 , 0 1 0 , − 2 2 0 , −2 0 1 0 0 1 −2 0 1
354
Chapter 7. Systems of First Order Linear Equations
− 12
3 − 2 4
1 2 1 2
0
−2
1
0 ,
− 12
3 − 2 − 45
1 2 1 2 2 5
0
0 , − 15
7 10 1 2 − 45
1 − 10
− 12 2 5
3 10 1 . 2 1 −5
The last of these matrices is A−1 , a result that can be verified by direct multiplication with the original matrix A. This example is made slightly simpler by the fact that the original matrix A had a 1 in the upper left corner (a11 = 1). If this is not the case, then the first step is to produce a 1 there by multiplying the first row by 1/a11 , as long as a11 = 0. If a11 = 0, then the first row must be interchanged with some other row to bring a nonzero element into the upper left position before proceeding. Matrix Functions. We sometimes need to consider vectors or matrices whose elements are functions of a real variable t. We write a11 (t) · · · a1n (t) x1 (t) .. , x(t) = ... , A(t) = ... (25) . xn (t) an1 (t) · · · ann (t) respectively. The matrix A(t) is said to be continuous at t = t0 or on an interval α < t < β if each element of A is a continuous function at the given point or on the given interval. Similarly, A(t) is said to be differentiable if each of its elements is differentiable, and its derivative dA/dt is defined by dai j dA = ; (26) dt dt that is, each element of dA/dt is the derivative of the corresponding element of A. In the same way the integral of a matrix function is defined as b
b A(t) dt = ai j (t) dt . (27) a
For example, if
then A (t) =
a
sin t A(t) = 1 cos t 0
1 , − sin t
t , cos t
π 0
A(t) dt =
2 π
π 2 /2 . 0
Many of the rules of elementary calculus extend easily to matrix functions; in particular, dA d (CA) = C , where C is a constant matrix; dt dt d dA dB (A + B) = + ; dt dt dt dB dA d (AB) = A + B. dt dt dt
(28) (29) (30)
355
7.2 Review of Matrices
In Eqs. (28) and (30) care must be taken in each term to avoid interchanging the order of multiplication. The definitions expressed by Eqs. (26) and (27) also apply as special cases to vectors.
PROBLEMS
−2 2 1
1 1. If A = 3 −2 (a) 2A + B (c) AB 1+i 2. If A = 3 + 2i (a) A − 2 B (c) AB −2 3. If A = 1 2
−1 + 2i 2−i
1 0 −1
1 6. If A = 3 −2
3 0, find 2
and B =
i 2
3 , find −2i
2 1 −3 and B = 3 1 −2
2 −1 1
(b) 3A + B (d) BA 3 −1, find 0 (b) BT (d) (A + B)T
1+i , find −2 + 3i
(a) AT
−2 5 1
(b) A − 4B (d) BA
(a) AT (c) AT + BT 3 − 2i 4. If A = 2−i 3 5. If A = 2 1
0 4 −1 and B = −1 3 6
2 −1 2 −2 2 0
(b) A −1 2 2 and B = −2 1 1 0 2 −1, B = −2 3 1
(a) (AB)C = A(BC) (c) A(B + C) = AB + AC
1 3 0 1 3 0
(c) A∗
−1 3, verify that 2(A + B) = 2A + 2B. 2
−1 2 3, and C = 1 2 0
1 2 1
0 2, verify that −1
(b) (A + B) + C = A + (B + C)
7. Prove each of the following laws of matrix algebra: (a) A + B = B + A (b) A + (B + C) = (A + B) + C (c) α(A + B) = αA + αB (d) (α + β)A = αA + βA (e) A(BC) = (AB)C (f) A(B + C) = AB + AC 2 −1 + i 8. If x = 3i and y = 2 , find 1−i 3−i (a) xT y (c) (x, y)
(b) yT y (d) (y, y)
356
Chapter 7. Systems of First Order Linear Equations
1 − 2i 2 9. If x = i and y = 3 − i , show that 2 1 + 2i (a) xT y = yT x
(b) (x, y) = (y, x)
In each of Problems 10 through 19 either compute the inverse of the given matrix, or else show that it is singular.
1 −2 1 12. 2 3 1 14. −2 1 1 16. 2 3
4 3
10.
3 5 6
2 4 5
−1 1 −2
1 0 18. −1 0
0 −1 0 1
−1 0 0 1
0 1 1 −1
−1 2
−1 1 2 1 0 2 1 0 2 2 3 1 17. −1 2 1 4 −1 −1
1 8 −7 −1 0 1
2 1 −2
3 6 1 13. 2 1 2 15. 0 0 11.
1 −1 19. 1 −2
1 −1 1
−1 2 0 2
2 −4 1 0
0 2 3 −1
20. Prove that if there are two matrices B and C such that AB = I and AC = I, then B = C. This shows that a matrix A can have only one inverse. t t 2e 2e−t e2t e−t 3e2t e 21. If A(t) = 2et e−t −e2t and B(t) = −et 2e−t e2t , find t −t 2t t −t −e 3e 2e 3e −e −e2t (a) A + 3B
(b)
AB 1 A(t) dt (d)
(c) dA/dt
0
In each of Problems 22 through 24 verify that the given vector satisfies the given differential equation. 22. x = 23. x =
3 2
−2 x, −2
2 3
−1 1 t x+ e, −2 −1
1 24. x = 2 0
1 1 −1
x=
1 −1 x, 1
4 2t e 2 x=
1 t 1 e +2 tet 0 1
0 6 −t x = −8 e + 2 1 e2t −1 −4
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors
357
In each of Problems 25 and 26 verify that the given matrix satisfies the given differential equation. 1 1 e−3t e2t ⌿, ⌿(t) = 25. ⌿ = 4 −2 −4e−3t e2t 1 26. ⌿ = 3 2
−1 2 1
4 −1 ⌿, −1
et ⌿(t) = −4et −et
e−2t −e−2t −e−2t
e3t 2e3t e3t
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors ODE
In this section we review some results from linear algebra that are important for the solution of systems of linear differential equations. Some of these results are easily proved and others are not; since we are interested simply in summarizing some useful information in compact form, we give no indication of proofs in either case. All the results in this section depend on some basic facts about the solution of systems of linear algebraic equations. Systems of Linear Algebraic Equations. equations in n variables,
A set of n simultaneous linear algebraic
a11 x1 + a12 x2 + · · · + a1n xn = b1 , .. . an1 x1 + an2 x2 + · · · + ann xn = bn ,
(1)
Ax = b,
(2)
can be written as
where the n × n matrix A and the vector b are given, and the components of x are to be determined. If b = 0, the system is said to be homogeneous; otherwise, it is nonhomogeneous. If the coefficient matrix A is nonsingular, that is, if det A is not zero, then there is a unique solution of the system (2). Since A is nonsingular, A−1 exists, and the solution can be found by multiplying each side of Eq. (2) on the left by A−1 ; thus x = A−1 b.
(3)
In particular, the homogeneous problem Ax = 0, corresponding to b = 0 in Eq. (2), has only the trivial solution x = 0. On the other hand, if A is singular, that is, if det A is zero, then solutions of Eq. (2) either do not exist, or do exist but are not unique. Since A is singular, A−1 does not exist, so Eq. (3) is no longer valid. The homogeneous system Ax = 0
(4)
358
Chapter 7. Systems of First Order Linear Equations
has (infinitely many) nonzero solutions in addition to the trivial solution. The situation for the nonhomogeneous system (2) is more complicated. This system has no solution unless the vector b satisfies a certain further condition. This condition is that (b, y) = 0,
(5)
for all vectors y satisfying A∗ y = 0, where A∗ is the adjoint of A. If condition (5) is met, then the system (2) has (infinitely many) solutions. Each of these solutions has the form x = x(0) + ,
(6)
where x(0) is a particular solution of Eq. (2), and is any solution of the homogeneous system (4). Note the resemblance between Eq. (6) and the solution of a nonhomogeneous linear differential equation. The proofs of some of the preceding statements are outlined in Problems 25 through 29. The results in the preceding paragraph are important as a means of classifying the solutions of linear systems. However, for solving particular systems it is generally best to use row reduction to transform the system into a much simpler one from which the solution(s), if there are any, can be written down easily. To do this efficiently we can form the augmented matrix a11 · · · a1n | b1 .. (7) A | b = ... | ... . an1 · · · ann | bn by adjoining the vector b to the coefficient matrix A as an additional column. The dashed line replaces the equals sign and is said to partition the augmented matrix. We now perform row operations on the augmented matrix so as to transform A into a triangular matrix, that is, a matrix whose elements below the main diagonal are all zero. Once this is done, it is easy to see whether the system has solutions, and to find them if it does. Observe that elementary row operations on the augmented matrix (7) correspond to legitimate operations on the equations in the system (1). The following examples illustrate the process.
Solve the system of equations EXAMPLE
1
x1 − 2x2 + 3x3 = 7, −x1 + x2 − 2x3 = −5, 2x1 − x2 − x3 = 4. The augmented matrix for the system (8) is 1 −2 3 | −1 1 −2 | 2 −1 −1 |
7 −5 4
(8)
(9)
We now perform row operations on the matrix (9) with a view to introducing zeros in the lower left part of the matrix. Each step is described and the result recorded below.
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors
359
(a)
Add the first row to the second row and add (−2) times the first row to the third row. 1 −2 3 | 7 0 −1 1 | 2 0 3 −7 | −10
(b)
Multiply the second row by −1. 1 −2 0 1 0 3
3 | 7 −1 | −2 −7 | −10
(c)
Add (−3) times the second row to the third row. 1 −2 3 | 7 0 1 −1 | −2 0 0 −4 | −4
(d)
Divide the third row by −4.
1 0 0
−2 1 0
3 | 7 −1 | −2 1 | 1
The matrix obtained in this manner corresponds to the system of equations x1 − 2x2 + 3x3 = 7, x2 − x3 = −2, x3 = 1,
(10)
which is equivalent to the original system (8). Note that the coefficients in Eqs. (10) form a triangular matrix. From the last of Eqs. (10) we have x3 = 1, from the second equation x2 = −2 + x3 = −1, and from the first equation x1 = 7 + 2x2 − 3x3 = 2. Thus we obtain 2 x = −1 , 1 which is the solution of the given system (8). Incidentally, since the solution is unique, we conclude that the coefficient matrix is nonsingular.
Discuss solutions of the system EXAMPLE
2
x1 − 2x2 + 3x3 = b1 , −x1 + x2 − 2x3 = b2 , 2x1 − x2 + 3x3 = b3 for various values of b1 , b2 , and b3 .
(11)
360
Chapter 7. Systems of First Order Linear Equations
Observe that the coefficients in the system (11) are the same as those in the system (8) except for the coefficient of x3 in the third equation. The augmented matrix for the system (11) is 1 −2 3 | b1 −1 (12) 1 −2 | b2 . 2 −1 3 | b3 By performing steps (a), (b), and (c) as in Example 1 we transform the matrix (12) into 1 −2 3 | b1 0 (13) 1 −1 | −b1 − b2 . 0 0 0 | b1 + 3b2 + b3 The equation corresponding to the third row of the matrix (13) is b1 + 3b2 + b3 = 0;
(14)
thus the system (11) has no solution unless the condition (14) is satisfied by b1 , b2 , and b3 . It is possible to show that this condition is just Eq. (5) for the system (11). Let us now assume that b1 = 2, b2 = 1, and b3 = −5, in which case Eq. (14) is satisfied. Then the first two rows of the matrix (13) correspond to the equations x1 − 2x2 + 3x3 =
2,
x2 − x3 = −3.
(15)
To solve the system (15) we can choose one of the unknowns arbitrarily and then solve for the other two. Letting x3 = α, where α is arbitrary, it then follows that x2 = α − 3, x1 = 2(α − 3) − 3α + 2 = −α − 4. If we write the solution in vector notation, we have −4 −α − 4 −1 x = α − 3 = α 1 + −3 . 1 0 α
(16)
It is easy to verify that the second term on the right side of Eq. (16) is a solution of the nonhomogeneous system (11), while the first term is the most general solution of the homogeneous system corresponding to (11). Row reduction is also useful in solving homogeneous systems, and systems in which the number of equations is different from the number of unknowns. Linear Independence. A set of k vectors x(1) , . . . , x(k) is said to be linearly dependent if there exists a set of (complex) numbers c1 , . . . , ck , at least one of which is nonzero, such that c1 x(1) + · · · + ck x(k) = 0.
(17)
In other words x(1) , . . . , x(k) are linearly dependent if there is a linear relation among them. On the other hand, if the only set c1 , . . . , ck for which Eq. (17) is satisfied is c1 = c2 = · · · = ck = 0, then x(1) , . . . , x(k) are said to be linearly independent.
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors
361 ( j)
Consider now a set of n vectors, each of which has n components. Let xi j = xi be the ith component of the vector x( j) , and let X = (xi j ). Then Eq. (17) can be written as (1) x11 c1 + · · · + x1n cn x1 c1 + · · · + x1(n) cn . . .. = Xc = 0. .. (18) .. . . = .. (1) (n) c + · · · + x c x x n c1 + · · · + x n cn n1 1 nn n If det X = 0, then the only solution of Eq. (18) is c = 0, but if det X = 0, there are nonzero solutions. Thus the set of vectors x(1) , . . . , x(n) is linearly independent if and only if det X = 0.
EXAMPLE
3
Determine whether the vectors 1 x(1) = 2 , −1
x(2)
2 = 1 , 3
x(3)
−4 = 1 −11
(19)
are linearly independent or linearly dependent. If linearly dependent, find a linear relation among them. To determine whether x(1) , x(2) , and x(3) are linearly dependent we compute det(xi j ), whose columns are the components of x(1) , x(2) , and x(3) , respectively. Thus 1 2 −4 det(xi j ) = 2 1 1 , −1 3 −11 and an elementary calculation shows that it is zero. Thus x(1) , x(2) , and x(3) are linearly dependent, and there are constants c1 , c2 , and c3 such that c1 x(1) + c2 x(2) + c3 x(3) = 0. Equation (20) can also be written in the form c1 0 1 2 −4 2 1 1 c2 = 0 , 0 −1 3 −11 c3
(20)
(21)
and solved by means of elementary row operations starting from the augmented matrix 1 2 −4 | 0 2 (22) 1 1 | 0 . −1 3 −11 | 0 We proceed as in Examples 1 and 2. (a)
Add (−2) times the first row to the second row, and add the first row to the third row. 1 2 −4 | 0 0 −3 9 | 0 0 5 −15 | 0
362
Chapter 7. Systems of First Order Linear Equations
(b)
Divide the second row by −3; then add (−5) times the second row to the third row. 1 2 −4 | 0 0 1 −3 | 0 0 0 0 | 0
Thus we obtain the equivalent system c1 + 2c2 − 4c3 = 0, c2 − 3c3 = 0.
(23)
From the second of Eqs. (23) we have c2 = 3c3 , and from the first we obtain c1 = 4c3 − 2c2 = −2c3 . Thus we have solved for c1 and c2 in terms of c3 , with the latter remaining arbitrary. If we choose c3 = −1 for convenience, then c1 = 2 and c2 = −3. In this case the desired relation (20) becomes 2x(1) − 3x(2) − x(3) = 0.
Frequently, it is useful to think of the columns (or rows) of a matrix A as vectors. These column (or row) vectors are linearly independent if and only if det A = 0. Further, if C = AB, then it can be shown that det C = (det A)(det B). Therefore, if the columns (or rows) of both A and B are linearly independent, then the columns (or rows) of C are also linearly independent. Now let us extend the concepts of linear dependence and independence to a set of vector functions x(1) (t), . . . , x(k) (t) defined on an interval α < t < β. The vectors x(1) (t), . . . , x(k) (t) are said to be linearly dependent on α < t < β if there exists a set of constants c1 , . . . , ck , not all of which are zero, such that c1 x(1) (t) + · · · + ck x(k) (t) = 0 for all t in the interval. Otherwise, x(1) (t), . . . , x(k) (t) are said to be linearly independent. Note that if x(1) (t), . . . , x(k) (t) are linearly dependent on an interval, they are linearly dependent at each point in the interval. However, if x(1) (t), . . . , x(k) (t) are linearly independent on an interval, they may or may not be linearly independent at each point; they may, in fact, be linearly dependent at each point, but with different sets of constants at different points. See Problem 14 for an example. Eigenvalues and Eigenvectors. The equation Ax = y
(24)
can be viewed as a linear transformation that maps (or transforms) a given vector x into a new vector y. Vectors that are transformed into multiples of themselves are important in many applications.4 To find such vectors we set y = λx, where λ is a scalar proportionality factor, and seek solutions of the equations Ax = λx,
(25)
(A − λI)x = 0.
(26)
or
4
For example, this problem is encountered in finding the principal axes of stress or strain in an elastic body, and in finding the modes of free vibration in a conservative system with a finite number of degrees of freedom.
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors
363
The latter equation has nonzero solutions if and only if λ is chosen so that (λ) = det(A − λI) = 0.
(27)
Values of λ that satisfy Eq. (27) are called eigenvalues of the matrix A, and the nonzero solutions of Eq. (25) or (26) that are obtained by using such a value of λ are called the eigenvectors corresponding to that eigenvalue. If A is a 2 × 2 matrix, then Eq. (26) has the form x1 a12 a11 − λ 0 = (28) a21 a22 − λ x2 0 and Eq. (27) becomes (λ) = (a11 − λ)(a22 − λ) − a12 a21 = 0.
(29)
The following example illustrates how eigenvalues and eigenvectors are found.
EXAMPLE
4
Find the eigenvalues and eigenvectors of the matrix 3 −1 A= . 4 −2 The eigenvalues λ and eigenvectors x satisfy the equation (A − λI)x = 0, or x1 3−λ −1 0 = . x2 4 −2 − λ 0 The eigenvalues are the roots of the equation 3 − λ −1 det(A − λI) = = λ2 − λ − 2 = 0. 4 −2 − λ
(30)
(31)
(32)
Thus the eigenvalues are λ1 = 2 and λ2 = −1. To find the eigenvectors we return to Eq. (31) and replace λ by each of the eigenvalues in turn. For λ = 2 we have x1 0 1 −1 = . (33) x2 0 4 −4 Hence each row of this vector equation leads to the condition x1 − x2 = 0, so x1 and x2 are equal, but their value is not determined. If x1 = c, then x2 = c also and the eigenvector x(1) is 1 x(1) = c , c = 0. (34) 1 Usually, we will drop the arbitrary constant c when finding eigenvectors; thus instead of Eq. (34) we write 1 (1) x = , (35) 1 and remember that any nonzero multiple of this vector is also an eigenvector. We say that x(1) is the eigenvector corresponding to the eigenvalue λ1 = 2.
364
Chapter 7. Systems of First Order Linear Equations
Now setting λ = −1 in Eq. (31), we obtain x1 4 −1 0 = . x2 4 −1 0
(36)
Again we obtain a single condition on x1 and x2 , namely, 4x1 − x2 = 0. Thus the eigenvector corresponding to the eigenvalue λ2 = −1 is 1 , (37) x(2) = 4 or any nonzero multiple of this vector.
As Example 4 illustrates, eigenvectors are determined only up to an arbitrary nonzero multiplicative constant; if this constant is specified in some way, then the eigenvectors are said to be normalized. In Example 4, we set the constant equal to 1, but any other nonzero value could also have been used. Sometimes it is convenient to normalize an eigenvector x by choosing the constant so that (x, x) = 1. Equation (27) is a polynomial equation of degree n in λ, so there are n eigenvalues λ1 , . . . , λn , some of which may be repeated. If a given eigenvalue appears m times as a root of Eq. (27), then that eigenvalue is said to have multiplicity m. Each eigenvalue has at least one associated eigenvector, and an eigenvalue of multiplicity m may have q linearly independent eigenvectors, where 1 ≤ q ≤ m.
(38)
Examples show that q may be any integer in this interval. If all the eigenvalues of a matrix A are simple (have multiplicity one), then it is possible to show that the n eigenvectors of A, one for each eigenvalue, are linearly independent. On the other hand, if A has one or more repeated eigenvalues, then there may be fewer than n linearly independent eigenvectors associated with A, since for a repeated eigenvalue we may have q < m. As we will see in Section 7.8, this fact may lead to complications later on in the solution of systems of differential equations.
EXAMPLE
5
Find the eigenvalues and eigenvectors of the matrix 0 1 1 A = 1 0 1 . 1 1 0 The eigenvalues λ and eigenvectors x satisfy the equation (A − λI)x = 0, or x1 −λ 1 1 0 1 −λ 1 x2 = 0 . 1 1 −λ 0 x3 The eigenvalues are the roots of the equation −λ 1 1 det(A − λI) = 1 −λ 1 = −λ3 + 3λ + 2 = 0. 1 1 −λ
(39)
(40)
(41)
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors
365
The roots of Eq. (41) are λ1 = 2, λ2 = −1, and λ3 = −1. Thus 2 is a simple eigenvalue, and −1 is an eigenvalue of multiplicity 2. To find the eigenvector x(1) corresponding to the eigenvalue λ1 we substitute λ = 2 in Eq. (40); this gives the system x1 0 −2 1 1 1 −2 (42) 1 x2 = 0 . 0 1 1 −2 x3 We can reduce this to the equivalent system x1 2 −1 −1 0 0 1 −1 x2 = 0 0 0 0 0 x3 by elementary row operations. Solving this system we obtain the eigenvector 1 x(1) = 1 . 1
(43)
(44)
For λ = −1, Eqs. (40) reduce immediately to the single equation x1 + x2 + x3 = 0.
(45)
Thus values for two of the quantities x1 , x2 , x3 can be chosen arbitrarily and the third is determined from Eq. (45). For example, if x1 = 1 and x2 = 0, then x3 = −1, and 1 x(2) = 0 (46) −1 is an eigenvector. Any nonzero multiple of x(2) is also an eigenvector, but a second independent eigenvector can be found by making another choice of x1 and x2 ; for instance, x1 = 0 and x2 = 1. Again x3 = −1 and 0 (47) x(3) = 1 −1 is an eigenvector linearly independent of x(2) . Therefore in this example two linearly independent eigenvectors are associated with the double eigenvalue.
An important special class of matrices, called self-adjoint or Hermitian matrices, are those for which A∗ = A; that is, a ji = ai j . Hermitian matrices include as a subclass real symmetric matrices, that is, matrices that have real elements and for which AT = A. The eigenvalues and eigenvectors of Hermitian matrices always have the following useful properties: 1. 2.
All eigenvalues are real. There always exists a full set of n linearly independent eigenvectors, regardless of the multiplicities of the eigenvalues.
366
Chapter 7. Systems of First Order Linear Equations
3.
4.
If x(1) and x(2) are eigenvectors that correspond to different eigenvalues, then (x(1) , x(2) ) = 0. Thus, if all eigenvalues are simple, then the associated eigenvectors form an orthogonal set of vectors. Corresponding to an eigenvalue of multiplicity m, it is possible to choose m eigenvectors that are mutually orthogonal. Thus the full set of n eigenvectors can always be chosen to be orthogonal as well as linearly independent.
Example 5 above involves a real symmetric matrix and illustrates properties 1, 2, and 3, but the choice we have made for x(2) and x(3) does not illustrate property 4. However, it is always possible to choose an x(2) and x(3) so that (x(2) , x(3) ) = 0. For example, in Example 5 we could have chosen 1 1 x(3) = −2 x(2) = 0 , −1 1 as the eigenvectors associated with the eigenvalue λ = −1. These eigenvectors are orthogonal to each other as well as to the eigenvector x(1) corresponding to the eigenvalue λ = 2. The proofs of statements 1 and 3 above are outlined in Problems 32 and 33.
PROBLEMS
In each of Problems 1 through 5 either solve the given set of equations, or else show that there is no solution. 2. x1 + 2x2 − x3 = 1 − x3 = 0 1. x1 3x1 + x2 + x3 = 1 2x1 + x2 + x3 = 1 −x1 + x2 + 2x3 = 2 x1 − x2 + 2x3 = 1 3.
x1 + 2x2 − x3 = 2 2x1 + x2 + x3 = 1 x1 − x2 + 2x3 = −1
5.
x1 − x3 = 0 3x1 + x2 + x3 = 0 −x1 + x2 + 2x3 = 0
4.
x1 + 2x2 − x3 = 0 2x1 + x2 + x3 = 0 x1 − x2 + 2x3 = 0
In each of Problems 6 through 10 determine whether the given set of vectors is linearly independent. If linearly dependent, find a linear relation among them. The vectors are written as row vectors to save space, but may be considered as column vectors; that is, the transposes of the given vectors may be used instead of the vectors themselves. x(2) = (0, 1, 1), x(3) = (1, 0, 1) 6. x(1) = (1, 1, 0), 7. x(1) = (2, 1, 0), x(2) = (0, 1, 0), x(3) = (−1, 2, 0) (1) (2) 8. x = (1, 2, 2, 3), x = (−1, 0, 3, 1), x(3) = (−2, −1, 1, 0), (4) x = (−3, 0, −1, 3) 9. x(1) = (1, 2, −1, 0), x(2) = (2, 3, 1, −1), x(3) = (−1, 0, 2, 2), x(4) = (3, −1, 1, 3) 10. x(1) = (1, 2, −2), x(2) = (3, 1, 0), x(3) = (2, −1, 1), x(4) = (4, 3, −2) 11. Suppose that the vectors x(1) , . . . , x(m) each have n components, where n < m. Show that x(1) , . . . , x(m) are linearly dependent. In each of Problems 12 and 13 determine whether the given set of vectors is linearly independent for −∞ < t < ∞. If linearly dependent, find the linear relation among them. As in Problems 6 through 10 the vectors are written as row vectors to save space. 12. x(1) (t) = (e−t , 2e−t ),
x(2) (t) = (e−t , e−t ),
x(3) (t) = (3e−t , 0)
7.3 Systems of Linear Algebraic Equations; Linear Independence, Eigenvalues, Eigenvectors
13. x(1) (t) = (2 sin t, sin t), 14. Let
367
x(2) (t) = (sin t, 2 sin t)
x(1) (t) =
et t , te
x(2) (t) =
1 . t
Show that x(1) (t) and x(2) (t) are linearly dependent at each point in the interval 0 ≤ t ≤ 1. Nevertheless, show that x(1) (t) and x(2) (t) are linearly independent on 0 ≤ t ≤ 1. In each of Problems 15 through 24 find all eigenvalues and eigenvectors of the given matrix. 15. 17.
5 3 −2 1
−1 1
1 −2 √ 3 −1
√1 3 1 0 0 21. 2 1 −2 3 2 1 11/9 −2/9 8/9 23. −2/9 2/9 10/9 8/9 10/9 5/9 19.
16. 18. 20.
22.
24.
−2 −1 1 i −i 1 −3 3/4 −5 1 3 2 2 1 4 1 −2 −4 −1 3 2 4 2 0 2 4 2 3 3 4
Problems 25 through 29 deal with the problem of solving Ax = b when det A = 0. 25. Suppose that, for a given matrix A, there is a nonzero vector x such that Ax = 0. Show that there is also a nonzero vector y such that A∗ y = 0. 26. Show that (Ax, y) = (x, A∗ y) for any vectors x and y. 27. Suppose that det A = 0 and that Ax = b has solutions. Show that (b, y) = 0, where y is any solution of A∗ y = 0. Verify that this statement is true for the set of equations in Example 2. Hint: Use the result of Problem 26. 28. Suppose that det A = 0, and that x = x(0) is a solution of Ax = b. Show that if is a solution of A = 0 and α is any constant, then x = x(0) + α is also a solution of Ax = b. 29. Suppose that det A = 0 and that y is a solution of A∗ y = 0. Show that if (b, y) = 0 for every such y, then Ax = b has solutions. Note that this is the converse of Problem 27; the form of the solution is given by Problem 28. 30. Prove that λ = 0 is an eigenvalue of A if and only if A is singular. 31. Prove that if A is Hermitian, then (Ax, y) = (x, Ay), where x and y are any vectors. 32. In this problem we show that the eigenvalues of a Hermitian matrix A are real. Let x be an eigenvector corresponding to the eigenvalue λ. (a) Show that (Ax, x) = (x, Ax). Hint: See Problem 31. (b) Show that λ(x, x) = λ(x, x). Hint: Recall that Ax = λx. (c) Show that λ = λ; that is, the eigenvalue λ is real. 33. Show that if λ1 and λ2 are eigenvalues of a Hermitian matrix A, and if λ1 = λ2 , then the corresponding eigenvectors x(1) and x(2) are orthogonal. Hint: Use the results of Problems 31 and 32 to show that (λ1 − λ2 )(x(1) , x(2) ) = 0.
368
Chapter 7. Systems of First Order Linear Equations
7.4 Basic Theory of Systems of First Order Linear Equations The general theory of a system of n first order linear equations x1 = p11 (t)x1 + · · · + p1n (t)xn + g1 (t), .. . xn = pn1 (t)x1 + · · · + pnn (t)xn + gn (t)
(1)
closely parallels that of a single linear equation of nth order. The discussion in this section therefore follows the same general lines as that in Sections 3.2, 3.3, and 4.1. To discuss the system (1) most effectively, we write it in matrix notation. That is, we consider x1 = φ1 (t), . . . , xn = φn (t) to be components of a vector x = (t); similarly, g1 (t), . . . , gn (t) are components of a vector g(t), and p11 (t), . . . , pnn (t) are elements of an n × n matrix P(t). Equation (1) then takes the form x = P(t)x + g(t).
(2)
The use of vectors and matrices not only saves a great deal of space and facilitates calculations but also emphasizes the similarity between systems of equations and single (scalar) equations. A vector x = (t) is said to be a solution of Eq. (2) if its components satisfy the system of equations (1). Throughout this section we assume that P and g are continuous on some interval α < t < β; that is, each of the scalar functions p11 , . . . , pnn , g1 , . . . , gn is continuous there. According to Theorem 7.1.2, this is sufficient to guarantee the existence of solutions of Eq. (2) on the interval α < t < β. It is convenient to consider first the homogeneous equation x = P(t)x
(3)
obtained from Eq. (2) by setting g(t) = 0. Once the homogeneous equation has been solved, there are several methods that can be used to solve the nonhomogeneous equation (2); this is taken up in Section 7.9. We use the notation x1k (t) x11 (t) x21 (t) x2k (t) (k) x(1) (t) = (4) .. , . . . , x (t) = .. , . . . . . xn1 (t) xnk (t) ( j)
to designate specific solutions of the system (3). Note that xi j (t) = xi (t) refers to the ith component of the jth solution x( j) (t). The main facts about the structure of solutions of the system (3) are stated in Theorems 7.4.1 to 7.4.4. They closely resemble the corresponding theorems in Sections 3.2, 3.3, and 4.1; some of the proofs are left to the reader as exercises.
Theorem 7.4.1
If the vector functions x(1) and x(2) are solutions of the system (3), then the linear combination c1 x(1) + c2 x(2) is also a solution for any constants c1 and c2 . This is the principle of superposition; it is proved simply by differentiating c1 x(1) + c2 x(2) and using the fact that x(1) and x(2) satisfy Eq. (3). By repeated application of
369
7.4 Basic Theory of Systems of First Order Linear Equations
Theorem 7.4.1 we reach the conclusion that if x(1) , . . . , x(k) are solutions of Eq. (3), then x = c1 x(1) (t) + · · · + ck x(k) (t)
(5)
is also a solution for any constants c1 , . . . , ck . As an example, it can be verified that 3t e e−t 1 3t 1 −t (1) (2) x (t) = (6) x (t) = = e , = e −2e−t 2 −2 2e3t satisfy the equation
1 x = 4
1 x. 1
(7)
According to Theorem 7.4.1
1 3t 1 −t x = c1 e + c2 e 2 −2 = c1 x(1) (t) + c2 x(2) (t)
(8)
also satisfies Eq. (7). As we indicated previously, by repeatedly applying Theorem 7.4.1, it follows that every finite linear combination of solutions of Eq. (3) is also a solution. The question now arises as to whether all solutions of Eq. (3) can be found in this way. By analogy with previous cases it is reasonable to expect that for a system of the form (3) of nth order it is sufficient to form linear combinations of n properly chosen solutions. Therefore let x(1) , . . . , x(n) be n solutions of the nth order system (3), and consider the matrix X(t) whose columns are the vectors x(1) (t), . . . , x(n) (t): x11 (t) · · · x1n (t) .. .. X(t) = (9) . . . xn1 (t) · · · xnn (t) Recall from Section 7.3 that the columns of X(t) are linearly independent for a given value of t if and only if det X = 0 for that value of t. This determinant is called the Wronskian of the n solutions x(1) , . . . , x(n) and is also denoted by W [x(1) , . . . , x(n) ]; that is, W [x(1) , . . . , x(n) ](t) = det X(t).
(10)
The solutions x(1) , . . . , x(n) are then linearly independent at a point if and only if W [ x(1) , . . . , x(n) ] is not zero there.
Theorem 7.4.2
If the vector functions x(1) , . . . , x(n) are linearly independent solutions of the system (3) for each point in the interval α < t < β, then each solution x = (t) of the system (3) can be expressed as a linear combination of x(1) , . . . , x(n) , (t) = c1 x(1) (t) + · · · + cn x(n) (t),
in exactly one way.
(11)
370
Chapter 7. Systems of First Order Linear Equations
Before proving Theorem 7.4.2, note that according to Theorem 7.4.1 all expressions of the form (11) are solutions of the system (3), while by Theorem 7.4.2 all solutions of Eq. (3) can be written in the form (11). If the constants c1 , . . . , cn are thought of as arbitrary, then Eq. (11) includes all solutions of the system (3), and it is customary to call it the general solution. Any set of solutions x(1) , . . . , x(n) of Eq. (3), which is linearly independent at each point in the interval α < t < β, is said to be a fundamental set of solutions for that interval. To prove Theorem 7.4.2, we will show, given any solution of Eq. (3), that (t) = c1 x(1) (t) + · · · + cn x(n) (t) for suitable values of c1 , . . . , cn . Let t = t0 be some point in the interval α < t < β and let = (t0 ). We now wish to determine whether there is any solution of the form x = c1 x(1) (t) + · · · + cn x(n) (t) that also satisfies the same initial condition x(t0 ) = . That is, we wish to know whether there are values of c1 , . . . , cn such that c1 x(1) (t0 ) + · · · + cn x(n) (t0 ) = ,
(12)
c1 x11 (t0 ) + · · · + cn x1n (t0 ) = ξ1 , .. . c1 xn1 (t0 ) + · · · + cn xnn (t0 ) = ξn .
(13)
or in scalar form
The necessary and sufficient condition that Eqs. (13) possess a unique solution c1 , . . . , cn is precisely the nonvanishing of the determinant of coefficients, which is the Wronskian W [ x(1) , . . . , x(n) ] evaluated at t = t0 . The hypothesis that x(1) , . . . , x(n) are linearly independent throughout α < t < β guarantees that W [x(1) , . . . , x(n) ] is not zero at t = t0 , and therefore there is a (unique) solution of Eq. (3) of the form x = c1 x(1) (t) + · · · + cn x(n) (t) that also satisfies the initial condition (12). By the uniqueness part of Theorem 7.1.2 this solution is identical to (t), and hence (t) = c1 x(1) (t) + · · · + cn x(n) (t), as was to be proved.
Theorem 7.4.3
If x(1) , . . . , x(n) are solutions of Eq. (3) on the interval α < t < β, then in this interval W [x(1) , . . . , x(n) ] either is identically zero or else never vanishes. The significance of Theorem 7.4.3 lies in the fact that it relieves us of the necessity of examining W [x(1) , . . . , x(n) ] at all points in the interval of interest, and enables us to determine whether x(1) , . . . , x(n) form a fundamental set of solutions merely by evaluating their Wronskian at any convenient point in the interval. Theorem 7.4.3 is proved by first establishing that the Wronskian of x(1) , . . . , x(n) satisfies the differential equation (see Problem 2) dW = ( p11 + p22 + · · · + pnn )W. (14) dt Hence W is an exponential function, and the conclusion of the theorem follows immediately. The expression for W obtained by solving Eq. (14) is known as Abel’s formula; note the analogy with Eq. (8) of Section 3.3. Alternatively, Theorem 7.4.3 can be established by showing that if n solutions x(1) , . . . , x(n) of Eq. (3) are linearly dependent at one point t = t0 , then they must
371
7.4 Basic Theory of Systems of First Order Linear Equations
be linearly dependent at each point in α < t < β (see Problem 8). Consequently, if x(1) , . . . , x(n) are linearly independent at one point, they must be linearly independent at each point in the interval. The next theorem states that the system (3) always has at least one fundamental set of solutions.
Theorem 7.4.4
Let
e(1)
1 0 0 = . , .. 0
(1)
further let x , . . . , x ditions
(n)
e(2)
0 1 0 = . , . . . , ..
e(n)
0 0 . = .. ; 0
0
1
be the solutions of the system (3) satisfying the initial conx(1) (t0 ) = e(1) , . . . , x(n) (t0 ) = e(n) ,
(15)
respectively, where t0 is any point in α < t < β. Then x(1) , . . . , x(n) form a fundamental set of solutions of the system (3). To prove this theorem, note that the existence and uniqueness of the solutions x(1) , . . . , x(n) mentioned in Theorem 7.4.4 are assured by Theorem 7.1.2. It is not hard to see that the Wronskian of these solutions is equal to 1 when t = t0 ; therefore x(1) , . . . , x(n) are a fundamental set of solutions. Once one fundamental set of solutions has been found, other sets can be generated by forming (independent) linear combinations of the first set. For theoretical purposes the set given by Theorem 7.4.4 is usually the simplest. To summarize, any set of n linearly independent solutions of the system (3) constitutes a fundamental set of solutions. Under the conditions given in this section, such fundamental sets always exist, and every solution of the system (3) can be represented as a linear combination of any fundamental set of solutions.
PROBLEMS
1. Using matrix algebra, prove the statement following Theorem 7.4.1 for an arbitrary value of the integer k. 2. In this problem we outline a proof of Theorem 7.4.3 in the case n = 2. Let x(1) and x(2) be solutions of Eq. (3) for α < t < β, and let W be the Wronskian of x(1) and x(2) . (a) Show that (1) d x (1) x1(2) d x1(2) x1 1 dW = dt dt + d x (1) d x2(2) . (1) 2 dt (2) x x2 dt 2 dt (b) Using Eq. (3), show that dW = ( p11 + p22 )W. dt (c) Find W (t) by solving the differential equation obtained in part (b). Use this expression to obtain the conclusion stated in Theorem 7.4.3.
372
Chapter 7. Systems of First Order Linear Equations
(d) Generalize this procedure so as to prove Theorem 7.4.3 for an arbitrary value of n. 3. Show that the Wronskians of two fundamental sets of solutions of the system (3) can differ at most by a multiplicative constant. Hint: Use Eq. (14). 4. If x1 = y and x2 = y , then the second order equation y + p(t)y + q(t)y = 0
(i)
x1 = x2 , x2 = −q(t)x1 − p(t)x2 .
(ii)
corresponds to the system
Show that if x(1) and x(2) are a fundamental set of solutions of Eqs. (ii), and if y (1) and y (2) are a fundamental set of solutions of Eq. (i), then W [y (1) , y (2) ] = cW [x(1) , x(2) ], where c is a nonzero constant. Hint: y (1) (t) and y (2) (t) must be linear combinations of x11 (t) and x12 (t). 5. Show that the general solution of x = P(t)x + g(t) is the sum of any particular solution x( p) of this equation and the generalsolution x(c) of thecorresponding homogeneous equation. t t2 (1) (2) 6. Consider the vectors x (t) = and x (t) = . 1 2t (1) (2) (a) Compute the Wronskian of x and x . (b) In what intervals are x(1) and x(2) linearly independent? (c) What conclusion can be drawn about the coefficients in the system of homogeneous differential equations satisfied by x(1) and x(2) ? (d) Find this system of equations of part (c). 2and t verify the conclusions e t (1) (2) and x (t) = t , and answer the same questions as 7. Consider the vectors x (t) = e 2t in Problem 6. The following two problems indicate an alternative derivation of Theorem 7.4.2. 8. Let x(1) , . . . , x(m) be solutions of x = P(t)x on the interval α < t < β. Assume that P is continuous and let t0 be an arbitrary point in the given interval. Show that x(1) , . . . , x(m) are linearly dependent for α < t < β if (and only if) x(1) (t0 ), . . . , x(m) (t0 ) are linearly dependent. In other words x(1) , . . . , x(m) are linearly dependent on the interval (α, β) if they are linearly dependent at any point in it. Hint: There are constants c1 , . . . , cm such that c1 x(1) (t0 ) + · · · + cm x(m) (t0 ) = 0. Let z(t) = c1 x(1) (t) + · · · + cm x(m) (t) and use the uniqueness theorem to show that z(t) = 0 for each t in α < t < β. 9. Let x(1) , . . . , x(n) be linearly independent solutions of x = P(t)x, where P is continuous on α < t < β. (a) Show that any solution x = z(t) can be written in the form z(t) = c1 x(1) (t) + · · · + cn x(n) (t) for suitable constants c1 , . . . , cn . Hint: Use the result of Problem 11 of Section 7.3, and also Problem 8 above. (b) Show that the expression for the solution z(t) in part (a) is unique; that is, if z(t) = k1 x(1) (t) + · · · + kn x(n) (t), then k1 = c1 , . . . , kn = cn . Hint: Show that (k1 − c1 )x(1) (t) + · · · + (kn − cn )x(n) (t) = 0 for each t in α < t < β and use the linear independence of x(1) , . . . , x(n) .
7.5 Homogeneous Linear Systems with Constant Coefficients
373
7.5 Homogeneous Linear Systems with Constant Coefficients ODE
We will concentrate most of our attention on systems of homogeneous linear equations with constant coefficients; that is, systems of the form x = Ax,
(1)
where A is a constant n × n matrix. Unless stated otherwise, we will assume further that all the elements of A are real (rather than complex) numbers. If n = 1, then the system reduces to a single first order equation dx = ax, (2) dt whose solution is x = ceat . In Section 2.5 we noted that x = 0 is the only equilibrium solution if a = 0. Other solutions approach x = 0 if a < 0 and in this case we say that x = 0 is an asymptotically stable equilibrium solution. On the other hand, if a > 0, then x = 0 is unstable, since other solutions depart from it. For higher order systems the situation is somewhat analogous, but more complicated. Equilibrium solutions are found by solving Ax = 0. We assume that det A = 0, so x = 0 is the only equilibrium solution. An important question is whether other solutions approach this equilibrium solution or depart from it as t increases; in other words, is x = 0 asymptotically stable or unstable? Or are there still other possibilities? The case n = 2 is particularly important and lends itself to visualization in the x1 x2 -plane, called the phase plane. By evaluating Ax at a large number of points and plotting the resulting vectors one obtains a direction field of tangent vectors to solutions of the system of differential equations. A qualitative understanding of the behavior of solutions can usually be gained from a direction field. More precise information results from including in the plot some solution curves, or trajectories. A plot that shows a representative sample of trajectories for a given system is called a phase portrait. Examples of direction fields and phase portraits occur later in this section. To construct the general solution of the system (1) we proceed by analogy with the treatment of second order linear equations in Section 3.1. Thus we seek solutions of Eq. (1) of the form x = er t ,
(3)
where the exponent r and the constant vector are to be determined. Substituting from Eq. (3) for x in the system (1) gives r er t = Aer t . Upon canceling the nonzero scalar factor er t we obtain A = r , or (A − r I) = 0,
(4)
where I is the n × n identity matrix. Thus, to solve the system of differential equations (1), we must solve the system of algebraic equations (4). This latter problem is precisely the one that determines the eigenvalues and eigenvectors of the matrix A. Therefore the vector x given by Eq. (3) is a solution of Eq. (1) provided that r is an eigenvalue and an associated eigenvector of the coefficient matrix A. The following two examples illustrate the solution procedure in the case of 2 × 2 coefficient matrices. We also show how to construct the corresponding phase portraits. Later in the section we return to a further discussion of the general n × n system.
374
Chapter 7. Systems of First Order Linear Equations
Consider the system
1 x = 4
EXAMPLE
1
1 x. 1
(5)
Plot a direction field and determine the qualitative behavior of solutions. Then find the general solution and draw several trajectories. A direction field for this system is shown in Figure 7.5.1. From this figure it is easy to see that a typical solution departs from the neighborhood of the origin and ultimately has a slope of approximately 2 in either the first or third quadrant. x2 2
1
–2
–1
1
2
x1
–1
–2
FIGURE 7.5.1 Direction field for the system (5).
To find solutions explicitly we assume that x = er t , and substitute for x in Eq. (5). We are led to the system of algebraic equations ξ1 0 1−r 1 = . (6) ξ2 0 4 1−r Equations (6) have a nontrivial solution if and only if the determinant of coefficients is zero. Thus allowable values of r are found from the equation 1 − r 1 = (1 − r )2 − 4 4 1 − r = r 2 − 2r − 3 = 0.
(7)
Equation (7) has the roots r1 = 3 and r2 = −1; these are the eigenvalues of the coefficient matrix in Eq. (5). If r = 3, then the system (6) reduces to the single equation −2ξ1 + ξ2 = 0. Thus ξ2 = 2ξ1 and the eigenvector corresponding to r1 = 3 can be taken as 1 (1) = . 2
(8)
(9)
375
7.5 Homogeneous Linear Systems with Constant Coefficients
Similarly, corresponding to r2 = −1, we find that ξ2 = −2ξ1 , so the eigenvector is 1 (2) = . (10) −2 The corresponding solutions of the differential equation are 1 3t 1 −t e , x(2) (t) = e . x(1) (t) = 2 −2 The Wronskian of these solutions is
e3t W [x , x ](t) = 3t 2e (1)
(2)
e−t = −4e2t , −2e−t
(11)
(12)
which is never zero. Hence the solutions x(1) and x(2) form a fundamental set, and the general solution of the system (5) is x = c1 x(1) (t) + c2 x(2) (t) 1 3t 1 −t = c1 e + c2 e , 2 −2
(13)
where c1 and c2 are arbitrary constants. To visualize the solution (13) it is helpful to consider its graph in the x1 x2 -plane for various values of the constants c1 and c2 . We start with x = c1 x(1) (t), or in scalar form x1 = c1 e3t ,
x2 = 2c1 e3t .
By eliminating t between these two equations, we see that this solution lies on the straight line x2 = 2x1 ; see Figure 7.5.2a. This is the line through the origin in the direction of the eigenvector (1) . If we look on the solution as the trajectory of a moving particle, then the particle is in the first quadrant when c1 > 0 and in the third quadrant when c1 < 0. In either case the particle departs from the origin as t increases. Next consider x = c2 x(2) (t), or x1 = c2 e−t ,
x2 = −2c2 e−t .
This solution lies on the line x2 = −2x1 , whose direction is determined by the eigenvector (2) . The solution is in the fourth quadrant when c2 > 0 and in the second quadrant when c2 < 0, as shown in Figure 7.5.2a. In both cases the particle moves toward the origin as t increases. The solution (13) is a combination of x(1) (t) and x(2) (t). For large t the term c1 x(1) (t) is dominant and the term c2 x(2) (t) becomes negligible. Thus all solutions for which c1 = 0 are asymptotic to the line x2 = 2x1 as t → ∞. Similarly, all solutions for which c2 = 0 are asymptotic to the line x2 = −2x1 as t → −∞. The graphs of several solutions are shown in Figure 7.5.2a. The pattern of trajectories in this figure is typical of all second order systems x = Ax for which the eigenvalues are real and of opposite signs. The origin is called a saddle point in this case. Saddle points are always unstable because almost all trajectories depart from them as t increases. In the preceding paragraph we have described how to draw by hand a qualitatively correct sketch of the trajectories of a system such as Eq. (5), once the eigenvalues and eigenvectors have been determined. However, to produce a detailed and accurate drawing, such as Figure 7.5.2a and other figures that appear later in this chapter, a computer is extremely helpful, if not indispensable.
376
Chapter 7. Systems of First Order Linear Equations x2
2
x1 x(1)(t) 2
1
–2
–1
1
x1
2
–1
0.5
1
t
–2
x(2)(t) –2
(a)
(b)
FIGURE 7.5.2 (a) Trajectories of the system (5); the origin is a saddle point. (b) Plots of x1 versus t for the system (5).
As an alternative to Figure 7.5.2a one can also plot x1 or x2 as a function of t; some typical plots of x1 versus t are shown in Figure 7.5.2b, and those of x2 versus t are similar. For certain initial conditions it follows that c1 = 0 in Eq. (13), so that x1 = c2 e−t and x1 → 0 as t → ∞. One such graph is shown in Figure 7.5.2b, corresponding to a trajectory that approaches the origin in Figure 7.5.2a. For most initial conditions, however, c1 = 0 and x1 is given by x1 = c1 e3t + c2 e−t . Then the presence of the positive exponential term causes x1 to grow exponentially in magnitude as t increases. Several graphs of this type are shown in Figure 7.5.2b, corresponding to trajectories that depart from the neighborhood of the origin in Figure 7.5.2a. It is important to understand the relation between parts (a) and (b) of Figure 7.5.2 and other similar figures that appear later, since one may want to visualize solutions either in the x1 x2 -plane or as functions of the independent variable t.
Consider the system EXAMPLE
2
−3 x = √ 2
√ 2 x. −2
(14)
Draw a direction field for this system; then find its general solution and plot several trajectories in the phase plane. The direction field for the system (14) in Figure 7.5.3 shows clearly that all solutions approach the origin. To find the solutions assume that x = er t ; then we obtain the algebraic system √ ξ1 2 0 −3√− r = . (15) ξ2 0 2 −2 − r
377
7.5 Homogeneous Linear Systems with Constant Coefficients x2 2
1
–2
–1
1
2
x1
–1
–2
FIGURE 7.5.3 Direction field for the system (14).
The eigenvalues satisfy (−3 − r )(−2 − r ) − 2 = r 2 + 5r + 4 = (r + 1)(r + 4) = 0,
(16)
so r1 = −1 and r2 = −4. For r = −1, Eq. (15) becomes √ ξ1 −2 2 0 √ = . (17) ξ 0 2 −1 2 √ Hence ξ2 = 2 ξ1 and the eigenvector (1) corresponding to the eigenvalue r1 = −1 can be taken as 1 (1) = √ . (18) 2 √ Similarly, corresponding to the eigenvalue r2 = −4, we have ξ1 = − 2 ξ2 , so the eigenvector is √ − 2 . (2) = (19) 1 Thus a fundamental set of solutions of the system (14) is √ 1 x(2) (t) = − 2 e−4t , x(1) (t) = √ e−t , 2 1
(20)
and the general solution is
√ 1 x = c1 x(1) (t) + c2 x(2) = c1 √ e−t + c2 − 2 e−4t . 2 1
(21)
Graphs of the solution (21) for several values of c1 and c2 are shown in Figure √ (1) 7.5.4a. The solution x (t) approaches the origin along the line √ x2 = 2 x1 , while the solution x(2) (t) approaches the origin along the line x1 = − 2 x2 . The directions of
378
Chapter 7. Systems of First Order Linear Equations
these lines are determined by the eigenvectors (1) and (2) , respectively. In general, we have a combination of these two fundamental solutions. As t → ∞, the solution x(2) (t) unless c1 = 0, the solution (21) approaches is negligible compared to x(1) (t). Thus, √ the origin tangent to the line x2 = 2x1 . The pattern of trajectories shown in Figure 7.5.4a is typical of all second order systems x = Ax for which the eigenvalues are real, different, and of the same sign. The origin is called a node for such a system. If the eigenvalues were positive rather than negative, then the trajectories would be similar but traversed in the outward direction. Nodes are asymptotically stable if the eigenvalues are negative and unstable if the eigenvalues are positive. Although Figure 7.5.4a was computer-generated, a qualitatively correct sketch of the trajectories can be drawn quickly by hand, based on a knowledge of the eigenvalues and eigenvectors. Some typical plots of x1 versus t are shown in Figure 7.5.4b. Observe that each of the graphs approaches the t-axis asymptotically as t increases, corresponding to a trajectory that approaches the origin in Figure 7.5.2a. The behavior of x2 as a function of t is similar.
x2
x1
x(1)(t)
2 1 1
–2
–1
1 –1
2 x(2)(t)
x1
0.5
1
t
–1
–2
(a)
(b)
FIGURE 7.5.4 (a) Trajectories of the system (14); the origin is a node. (b) Plots of x1 versus t for the system (14).
The two preceding examples illustrate the two main cases for 2 × 2 systems having eigenvalues that are real and different: Either the eigenvalues have opposite signs (Example 1) or the same sign (Example 2). The other possibility is that zero is an eigenvalue, but in this case it follows that det A = 0, which violates the assumption made at the beginning of this section. Returning to the general system (1) we proceed as in the examples. To find solutions of the differential equation (1) we must find the eigenvalues and eigenvectors of A
379
7.5 Homogeneous Linear Systems with Constant Coefficients
from the associated algebraic system (4). The eigenvalues r1 , . . . , rn (which need not all be different) are roots of the nth degree polynomial equation det(A − r I) = 0.
(22)
The nature of the eigenvalues and the corresponding eigenvectors determines the nature of the general solution of the system (1). If we assume that A is a real-valued matrix, there are three possibilities for the eigenvalues of A: 1. 2. 3.
All eigenvalues are real and different from each other. Some eigenvalues occur in complex conjugate pairs. Some eigenvalues are repeated.
If the eigenvalues are all real and different, as in the two preceding examples, then associated with each eigenvalue ri is a real eigenvector (i) and the set of n eigenvectors (1) , . . . , (n) is linearly independent. The corresponding solutions of the differential system (1) are x(1) (t) = (1) er1 t , . . . , x(n) (t) = (n) ern t .
(23)
To show that these solutions form a fundamental set, we evaluate their Wronskian: rn t ξ (1) er1 t ··· ξ (n) e 1 1 .. .. W [x(1) , . . . , x(n) ](t) = . (1). r t (n) rn t ξ e1 · · · ξ e n n ξ (1) · · · ξ (n) 1 1 .. . (24) = e(r1 +···+rn )t ... . (1) (n) ξ ··· ξ n
n
First, we observe that the exponential function is never zero. Next, since the eigenvectors (1) , . . . , (n) are linearly independent, the determinant in the last term of Eq. (24) is nonzero. As a consequence, the Wronskian W [x(1) , . . . , x(n) ](t) is never zero; hence x(1) , . . . , x(n) form a fundamental set of solutions. Thus the general solution of Eq. (1) is x = c1 (1) er1 t + · · · + cn (n) ern t .
(25)
If A is real and symmetric (a special case of Hermitian matrices), recall from Section 7.3 that all the eigenvalues r1 , . . . , rn must be real. Further, even if some of the eigenvalues are repeated, there is always a full set of n eigenvectors (1) , . . . , (n) that are linearly independent (in fact, orthogonal). Hence the corresponding solutions of the differential system (1) given by Eq. (23) again form a fundamental set of solutions and the general solution is again given by Eq. (25). The following example illustrates this case.
Find the general solution of EXAMPLE
3
0 x = 1 1
1 0 1
1 1 x. 0
(26)
380
Chapter 7. Systems of First Order Linear Equations
Observe that the coefficient matrix is real and symmetric. The eigenvalues and eigenvectors of this matrix were found in Example 5 of Section 7.3, namely, 1 (1) = 1 ; (27) r1 = 2, 1
r2 = −1,
r3 = −1;
(2)
1 = 0 , −1
(3)
0 = 1 . −1
Hence a fundamental set of solutions of Eq. (26) is 1 1 0 x(2) (t) = 0 e−t , x(3) (t) = 1 e−t x(1) (t) = 1 e2t , 1 −1 −1 and the general solution is 1 1 0 x = c1 1 e2t + c2 0 e−t + c3 1 e−t . 1 −1 −1
(28)
(29)
(30)
This example illustrates the fact that even though an eigenvalue (r = −1) has multiplicity 2, it may still be possible to find two linearly independent eigenvectors (2) and (3) and, as a consequence, to construct the general solution (30). The behavior of the solution (30) depends critically on the initial conditions. For large t the first term on the right side of Eq. (30) is the dominant one; therefore, if c1 = 0, all components of x become unbounded as t → ∞. On the other hand, for certain initial points c1 will be zero. In this case, the solution involves only the negative exponential terms and x → 0 as t → ∞. The initial points that cause c1 to be zero are precisely those that lie in the plane determined by the eigenvectors (2) and (3) corresponding to the two negative eigenvalues. Thus, solutions that start in this plane approach the origin as t → ∞, while all other solutions become unbounded. If some of the eigenvalues occur in complex conjugate pairs, then there are still n linearly independent solutions of the form (23), provided that all the eigenvalues are different. Of course, the solutions arising from complex eigenvalues are complexvalued. However, as in Section 3.4, it is possible to obtain a full set of real-valued solutions. This is discussed in Section 7.6. More serious difficulties can occur if an eigenvalue is repeated. In this event the number of corresponding linearly independent eigenvectors may be smaller than the multiplicity of the eigenvalue. If so, the number of linearly independent solutions of the form er t will be smaller than n. To construct a fundamental set of solutions it is then necessary to seek additional solutions of another form. The situation is somewhat analogous to that for an nth order linear equation with constant coefficients; a repeated root of the characteristic equation gave rise to solutions of the form er t , ter t , t 2 er t , . . . . The case of repeated eigenvalues is treated in Section 7.8. Finally, if A is complex, then complex eigenvalues need not occur in conjugate pairs, and the eigenvectors are normally complex-valued even though the associated
381
7.5 Homogeneous Linear Systems with Constant Coefficients
eigenvalue may be real. The solutions of the differential equation (1) are still of the form (23), provided that the eigenvalues are distinct, but in general all the solutions are complex-valued.
PROBLEMS
In each of Problems 1 through 6 find the general solution of the given system of equations and describe the behavior of the solution as t → ∞. Also draw a direction field and plot a few trajectories of the system. 3 −2 1 −2 x x 䉴 1. x = 䉴 2. x = 2 −2 3 −4 2 −1 1 1 x x 䉴 3. x = 䉴 4. x = 3 −2 4 −2
3 5 −2 1 4 4 x x 䉴 5. x = 䉴 6. x = 3 5 1 −2 4
4
In each of Problems 7 and 8 find the general solution of the given system of equations. Also draw a direction field and a few of the trajectories. In each of these problems the coefficient matrix has a zero eigenvalue. As a result, the pattern of trajectories is different from those in the examples in the text. 4 −3 3 6 x x 䉴 7. x = 䉴 8. x = 8 −6 −1 −2 In each of Problems 9 through 14 find the general solution of the given system of equations. 1 i 2 2+i 9. x = x 10. x = x −i 1 −1 −1 − i 1 1 2 3 2 4 11. x = 1 2 1 x 12. x = 2 0 2 x 2 1 1 4 2 3 1 1 1 1 −1 4 14. x = 3 13. x = 2 1 −1 x 2 −1 x −8 −5 −3 2 1 −1 In each of Problems 15 through 18 solve the given initial value problem. Describe the behavior of the solution as t → ∞. 5 −1 2 x, x(0) = 15. x = 3 1 −1 16. x =
−2 −5
1 17. x = 0 −1
0 18. x = 2 −1
1 x, 4
x(0) =
2 2 x, 3
1 2 1 0 0 2
−1 0 x, 4
1 3
2 x(0) = 0 1 7 x(0) = 5 5
382
Chapter 7. Systems of First Order Linear Equations
19. The system tx = Ax is analogous to the second order Euler equation (Section 5.5). Assuming that x = t r , where is a constant vector, show that and r must satisfy (A − r I) = 0 in order to obtain nontrivial solutions of the given differential equation. Referring to Problem 19, solve the given system of equations in each of Problems 20 through 23. Assume that t > 0. 2 −1 5 −1 20. tx = x 21. tx = x 3 −2 3 1 4 −3 3 −2 22. tx = x 23. tx = x 8 −6 2 −2 In each of Problems 24 through 27 the eigenvalues and eigenvectors of a matrix A are given. Consider the corresponding system x = Ax. (a) Sketch a phase portrait of the system. (b) Sketch the trajectory passing through the initial point (2, 3). (c) For the trajectory in part (b) sketch the graphs of x1 versus t and of x2 versus t on the same set of axes. −1 1 ; r2 = −2, (2) = 24. r1 = −1, (1) = 2 2 −1 1 25. r1 = 1, (1) = ; r2 = −2, (2) = 2 2 −1 1 ; r2 = 2, (2) = 26. r1 = −1, (1) = 2 2 1 1 27. r1 = 1, (1) = ; r2 = 2, (2) = 2 −2 28. Consider a 2 × 2 system x = Ax. If we assume that r1 = r2 , the general solution is x = c1 (1) er1 t + c2 (2) er2 t , provided that (1) and (2) are linearly independent. In this problem we establish the linear independence of (1) and (2) by assuming that they are linearly dependent, and then showing that this leads to a contradiction. (a) Note that (1) satisfies the matrix equation (A − r1 I) (1) = 0; similarly, note that (A − r2 I) (2) = 0. (b) Show that (A − r2 I) (1) = (r1 − r2 ) (1) . (c) Suppose that (1) and (2) are linearly dependent. Then c1 (1) + c2 (2) = 0 and at least one of c1 and c2 is not zero; suppose that c1 = 0. Show that (A − r2 I)(c1 (1) + c2 (2) ) = 0, and also show that (A − r2 I)(c1 (1) + c2 (2) ) = c1 (r1 − r2 ) (1) . Hence c1 = 0, which is a contradiction. Therefore (1) and (2) are linearly independent. (d) Modify the argument of part (c) in case c1 is zero but c2 is not. (e) Carry out a similar argument for the case in which the order n is equal to 3; note that the procedure can be extended to cover an arbitrary value of n. 29. Consider the equation ay + by + cy = 0,
(i)
where a, b, and c are constants. In Chapter 3 it was shown that the general solution depended on the roots of the characteristic equation ar 2 + br + c = 0.
(ii)
383
7.5 Homogeneous Linear Systems with Constant Coefficients
(a) Transform Eq. (i) into a system of first order equations by letting x1 = y, x2 = y . Find x the system of equations x = Ax satisfied by x = 1 . x2 (b) Find the equation that determines the eigenvalues of the coefficient matrix A in part (a). Note that this equation is just the characteristic equation (ii) of Eq. (i). 䉴 30. The two-tank system of Problem 21 in Section 7.1 leads to the initial value problem
3 1 − 10 −17 40 x, x(0) = , x = 1 −21 − 51 10
where x1 and x2 are the deviations of the salt levels Q 1 and Q 2 from their respective equilibria. (a) Find the solution of the given initial value problem. (b) Plot x1 versus t and x2 versus t on the same set of axes. (c) Find the time T such that |x1 (t)| ≤ 0.5 and |x2 (t)| ≤ 0.5 for all t ≥ T . 31. Consider the system −1 −1 x = x. −α −1 (a) Solve the system for α = 0.5. What are the eigenvalues of the coefficient matrix? Classify the equilibrium point at the origin as to type. (b) Solve the system for α = 2. What are the eigenvalues of the coefficient matrix? Classify the equilibrium point at the origin as to type. (c) In parts (a) and (b) solutions of the system exhibit two quite different types of behavior. Find the eigenvalues of the coefficient matrix in terms of α and determine the value of α between 0.5 and 2 where the transition from one type of behavior to the other occurs. This critical value of α is called a bifurcation point. Electric Circuits. Problems 32 and 33 are concerned with the electric circuit described by the system of differential equations in Problem 20 of Section 7.1: R − 1 L d I = 1 dt V C
1 L I . 1 V − C R2 −
(i)
32. (a) Find the general solution of Eq. (i) if R1 = 1 ohm, R2 = 35 ohm, L = 2 henrys, and C = 23 farad. (b) Show that I (t) → 0 and V (t) → 0 as t → ∞ regardless of the initial values I (0) and V (0). 33. Consider the preceding system of differential equations (i). (a) Find a condition on R1 , R2 , C, and L that must be satisfied if the eigenvalues of the coefficient matrix are to be real and different. (b) If the condition found in part (a) is satisfied, show that both eigenvalues are negative. Then show that I (t) → 0 and V (t) → 0 as t → ∞ regardless of the initial conditions. (c) If the condition found in part (a) is not satisfied, then the eigenvalues are either complex or repeated. Do you think that I (t) → 0 and V (t) → 0 as t → ∞ in these cases as well? Hint: In part (c) one approach is to change the system (i) into a single second order equation. We also discuss complex and repeated eigenvalues in Sections 7.6 and 7.8.
384
Chapter 7. Systems of First Order Linear Equations
7.6 Complex Eigenvalues ODE
In this section we consider again a system of n linear homogeneous equations with constant coefficients x = Ax,
(1)
where the coefficient matrix A is real-valued. If we seek solutions of the form x = er t , then it follows as in Section 7.5 that r must be an eigenvalue and a corresponding eigenvector of the coefficient matrix A. Recall that the eigenvalues r1 , . . . , rn of A are the roots of the equation det(A − r I) = 0,
(2)
and that the corresponding eigenvectors satisfy (A − r I) = 0.
(3)
If A is real, then the coefficients in the polynomial equation (2) for r are real, and any complex eigenvalues must occur in conjugate pairs. For example, if r1 = λ + iµ, where λ and µ are real, is an eigenvalue of A, then so is r2 = λ − iµ. Further, the corresponding eigenvectors (1) and (2) are also complex conjugates. To see that this is so, suppose that r1 and (1) satisfy (A − r1 I) (1) = 0.
(4)
On taking the complex conjugate of this equation, and noting that A and I are realvalued, we obtain (A − r 1 I) (1) = 0,
(5)
where r 1 and (1) are the complex conjugates of r1 and (1) , respectively. In other words, r2 = r 1 is also an eigenvalue, and (2) = (1) is a corresponding eigenvector. The corresponding solutions x(1) (t) = (1) er1 t ,
x(2) (t) = (1) er 1 t
(6)
of the differential equation (1) are then complex conjugates of each other. Therefore, as in Section 3.4, we can find two real-valued solutions of Eq. (1) corresponding to the eigenvalues r1 and r2 by taking the real and imaginary parts of x(1) (t) or x(2) (t) given by Eq. (6). Let us write (1) = a + ib, where a and b are real; then we have x(1) (t) = (a + ib)e(λ+iµ)t = (a + ib)eλt (cos µt + i sin µt).
(7)
Upon separating x(1) (t) into its real and imaginary parts, we obtain x(1) (t) = eλt (a cos µt − b sin µt) + ieλt (a sin µt + b cos µt).
(8)
(1)
If we write x (t) = u(t) + iv(t), then the vectors u(t) = eλt (a cos µt − b sin µt), v(t) = eλt (a sin µt + b cos µt)
(9)
385
7.6 Complex Eigenvalues
are real-valued solutions of Eq. (1). It is possible to show that u and v are linearly independent solutions (see Problem 27). For example, suppose that r1 = λ + iµ, r2 = λ − iµ, and that r3 , . . . , rn are all real and distinct. Let the corresponding eigenvectors be (1) = a + ib, (2) = a − ib, (3) , . . . , (n) . Then the general solution of Eq. (1) is x = c1 u(t) + c2 v(t) + c3 (3) er3 t + · · · + cn (n) ern t ,
(10)
where u(t) and v(t) are given by Eqs. (9). We emphasize that this analysis applies only if the coefficient matrix A in Eq. (1) is real, for it is only then that complex eigenvalues and eigenvectors must occur in conjugate pairs. The following examples illustrate the case n = 2, both to simplify the algebraic calculations and to permit easy visualization of the solutions in the phase plane.
EXAMPLE
1
Find a fundamental set of real-valued solutions of the system
1 − 1 2 x x = −1 − 12
(11)
and display them graphically. A direction field for the system (11) is shown in Figure 7.6.1. This plot suggests that the trajectories in the phase plane spiral clockwise toward the origin. x2 2
1
–2
–1
1
2
x1
–1
–2
FIGURE 7.6.1 A direction field for the system (11).
To find a fundamental set of solutions we assume that x = er t and obtain the set of linear algebraic equations
1 − 12 − r ξ1 0 = 1 ξ 0 −1 −2 − r 2
(12)
(13)
386
Chapter 7. Systems of First Order Linear Equations
for the eigenvalues and eigenvectors of A. The characteristic equation is − 1 − r 1 2 = r 2 + r + 54 = 0; −1 − 12 − r
(14)
therefore the eigenvalues are r1 = − 12 + i and r2 = − 12 − i. From Eq. (13) a straightforward calculation shows that the corresponding eigenvectors are 1 1 (1) (2) = , = . (15) i −i Hence a fundamental set of solutions of the system (11) is 1 (−1/2+i)t 1 (−1/2−i)t (1) (2) e , x (t) = e . x (t) = i −i
(16)
To obtain a set of real-valued solutions, we must find the real and imaginary parts of either x(1) or x(2) . In fact, −t/2 −t/2 1 −t/2 e e cos t sin t x(1) (t) = e (cos t + i sin t) = + i . (17) i −e−t/2 sin t e−t/2 cos t Hence u(t) = e
−t/2
cos t , − sin t
v(t) = e
−t/2
sin t cos t
(18)
is a set of real-valued solutions. To verify that u(t) and v(t) are linearly independent, we compute their Wronskian: e−t/2 cos t e−t/2 sin t W (u, v)(t) = −t/2 sin t e−t/2 cos t −e = e−t (cos2 t + sin2 t) = e−t . Since the Wronskian is never zero, it follows that u(t) and v(t) constitute a fundamental set of (real-valued) solutions of the system (11). The graphs of the solutions u(t) and v(t) are shown in Figure 7.6.2a. Since 1 0 u(0) = , v(0) = , 0 1 the graphs of u(t) and v(t) pass through the points (1, 0) and (0, 1), respectively. Other solutions of the system (11) are linear combinations of u(t) and v(t), and graphs of a few of these solutions are also shown in Figure 7.6.2a. In all cases the solution approaches the origin along a spiral path as t → ∞; this is due to the fact that the solutions (18) are products of decaying exponential and sine or cosine factors. Some typical graphs of x1 versus t are shown in Figure 7.6.2b; each one represents a decaying oscillation in time. Figure 7.6.2a is typical of all second order systems x = Ax whose eigenvalues are complex with negative real part. The origin is called a spiral point and is asymptotically stable because all trajectories approach it as t increases. For a system whose eigenvalues have a positive real part the trajectories are similar to those in Figure 7.6.2a, but the direction of motion is away from the origin and the trajectories become unbounded. In this case, the origin is unstable. If the real part of the eigenvalues is zero, then the trajectories neither approach the origin nor become unbounded but instead traverse
387
7.6 Complex Eigenvalues x2
x1
u(t) 2 1 1
–2
–1
1
2
x1
2
4
t
–1 –1 v(t)
–2
(a)
(b)
FIGURE 7.6.2 (a) Trajectories of the system (11); the origin is a spiral point. (b) Plots of x1 versus t for the system (11).
repeatedly a closed curve about the origin. In this case the origin is called a center and is said to be stable, but not asymptotically stable. In all three cases the direction of motion may be either clockwise, as in this example, or counterclockwise, depending on the elements of the coefficient matrix A.
EXAMPLE
2
The electric circuit shown in Figure 7.6.3 is described by the system of differential equations d I −1 −1 I = , (19) 2 −1 V dt V where I is the current through the inductor and V is the voltage drop across the capacitor. These equations were derived in Problem 19 of Section 7.1. Suppose that at time t = 0 the current is 2 amperes and the voltage drop is 2 volts. Find I (t) and V (t) at any time. R = 1 ohm
L = 1 henry
R = 2 ohms
C=
1 2
farad
FIGURE 7.6.3 The circuit in Example 2.
388
Chapter 7. Systems of First Order Linear Equations
Assuming that
we obtain the algebraic equations −1 − r 2
I = e r t , V −1 −1 − r
ξ1 0 = . ξ2 0
(20)
(21)
The eigenvalues are determined from the condition −1 − r −1 = r 2 + 2r + 3 = 0; (22) 2 −1 − r √ √ thus r1 = −1 + 2 i and r2 = −1 − 2 i. The corresponding eigenvectors are then found from Eq. (21), namely, 1 1 (1) (2) √ √ = = , . (23) − 2i 2i The complex-valued solution corresponding to r1 and (1) is √ 1 (1) r1 t √ e = e(−1+ 2 i)t − 2i √ √ 1 √ = e−t (cos 2 t + i sin 2 t) − 2i √ √ 2t t cos √ √sin 2√ = e−t √ + ie−t . − 2 cos 2 t 2 sin 2 t
(24)
The real and imaginary parts of this solution form a pair of linearly independent real-valued solutions of Eq. (19): √ √ 2t 2 t sin −t √cos √ −t √ √ , v(t) = e . (25) u(t) = e − 2 cos 2 t 2 sin 2 t Hence the general solution of Eqs. (19) is √ √ 2t t I sin 2√ −t √cos √ −t √ + c2 e . = c1 e V − 2 cos 2 t 2 sin 2 t Upon imposing the initial conditions I 2 (0) = , V 2 we find that
(26)
(27)
0 1 √ = 2 . + c2 (28) c1 0 2 − 2 √ Thus c1 = 2 and c2 = − 2. The solution of the stated problem is then given by Eq. (26) with these values of c1 and c2 . The graph of the solution is shown in Figure 7.6.4. The trajectory spirals counterclockwise and rapidly approaches the origin, due to the factor e−t .
389
7.6 Complex Eigenvalues V (2, 2)
2 1
–1
1
2
I
–1
FIGURE 7.6.4 Solution of the initial value problem in Example 2.
The system EXAMPLE
α x = −2
3
2 x 0
(29)
contains a parameter α. Describe how the solutions depend qualitatively on α; in particular, find the critical values of α at which the qualitative behavior of the trajectories in the phase plane changes markedly. The behavior of the trajectories is controlled by the eigenvalues of the coefficient matrix. The characteristic equation is r 2 − αr + 4 = 0,
(30)
so the eigenvalues are
α 2 − 16 . (31) r= 2 From Eq. (31) it follows that the eigenvalues are complex conjugates for −4 < α < 4 and are real otherwise. Thus two critical values are α = −4 and α = 4, where the eigenvalues change from real to complex, or vice versa. For α < −4 both eigenvalues are negative, so all trajectories approach the origin, which is an asymptotically stable node. For α > 4 both eigenvalues are positive, so the origin is again a node, this time unstable; all trajectories (except x = 0) become unbounded. In the intermediate range, −4 < α < 4, the eigenvalues are complex and the trajectories are spirals. However, for −4 < α < 0 the real part of the eigenvalues is negative, the spirals are directed inward, and the origin is asymptotically stable, while for 0 < α < 4 the opposite is the case and the origin is unstable. Thus α = 0 is also a critical value where the direction of the spirals changes from inward to outward. For this value of α the origin is a center and the trajectories are closed curves about the origin, corresponding to solutions that are periodic in time. The other critical values, α = ±4, yield eigenvalues that are real and equal. In this case the origin is again a node, but the phase portrait differs somewhat from those in Section 7.5. We take up this case in Section 7.8. α±
For second order systems with real coefficients we have now completed our description of the three main cases that can occur. 1.
Eigenvalues have opposite signs; x = 0 is a saddle point.
390
Chapter 7. Systems of First Order Linear Equations
2. 3.
Eigenvalues have the same sign but are unequal; x = 0 is a node. Eigenvalues are complex with nonzero real part; x = 0 is a spiral point.
Other possibilities are of less importance and occur as transitions between two of the cases just listed. For example, a zero eigenvalue occurs during the transition between a saddle point and a node. Purely imaginary eigenvalues occur during a transition between asymptotically stable and unstable spiral points. Finally, real and equal eigenvalues appear during the transition between nodes and spiral points.
PROBLEMS
In each of Problems 1 through 8 express the general solution of the given system of equations in terms of real-valued functions. In each of Problems 1 through 6 also draw a direction field, sketch a few of the trajectories, and describe the behavior of the solutions as t → ∞. 3 −2 −1 −4 x x 䉴 1. x = 䉴 2. x = 4 −1 1 −1
2 − 52 2 −5 x x 䉴 3. x = 䉴 4. x = 9 1 −2 −1 5 1 −1 1 2 5. x = x 6. x = x 䉴 䉴 5 −3 −5 −1 1 0 0 −3 0 2 8. x = 1 −1 7. x = 2 1 −2 x 0 x 3 2 1 −2 −1 0 In each of Problems 9 and 10 find the solution of the given initial value problem. Describe the behavior of the solution as t → ∞. 1 −5 1 9. x = x, x(0) = 1 −3 1 10. x =
−3 −1
2 x, −1
x(0) =
1 −2
In each of Problems 11 and 12: (a) Find the eigenvalues of the given system. (b) Choose an initial point (other than the origin) and draw the corresponding trajectory in the x1 x2 -plane. (c) For your trajectory in part (b) draw the graphs of x1 versus t and of x2 versus t. (d) For your trajectory in part (b) draw the corresponding graph in three-dimensional t x1 x2 -space.
3 −2 − 45 2 4 x x 䉴 11. x = 䉴 12. x = −1 65 1 − 54 In each of Problems 13 through 20 the coefficient matrix contains a parameter α. In each of these problems: (a) Determine the eigenvalues in terms of α. (b) Find the critical value or values of α where the qualitative nature of the phase portrait for the system changes. (c) Draw a phase portrait for a value of α slightly below, and for another value slightly above, each critical value.
391
7.6 Complex Eigenvalues
䉴 13. x = 䉴 15. x = 䉴 17. x =
α −1 2 α −1 −1
α 䉴 19. x = −1
1 x α
䉴 14. x =
−5 x −2
䉴 16. x =
α x −1 10 x −4
䉴 18. x =
䉴 20. x =
3 4 5 4
5 4
α
−5 x α
0 1
3 −6 4 8
x
α x −4 α x −6
In each of Problems 21 and 22 solve the given system of equations by the method of Problem 19 of Section 7.5. Assume that t > 0. −1 −1 2 −5 x 22. tx = x 21. tx = 2 −1 1 −2 In each of Problems 23 and 24: (a) Find the eigenvalues of the given system. (b) Choose an initial point (other than the origin) and draw the corresponding trajectory in the x1 x2 -plane. Also draw the trajectories in the x1 x3 - and x2 x3 -planes. (c) For the initial point in part (b) draw the corresponding trajectory in x1 x2 x3 -space. 1 1 −4 1 0 −4 1 0 0 x 0 x 䉴 23. x = −1 − 14 䉴 24. x = −1 − 14 0
0
− 14
0
0
1 10
25. Consider the electric circuit shown in Figure 7.6.5. Suppose that R1 = R2 = 4 ohms, C = 12 farad, and L = 8 henrys. (a) Show that this circuit is described by the system of differential equations
1 − 2 − 18 d I I = , (i) V dt V 2 −1 2
where I is the current through the inductor and V is the voltage drop across the capacitor. Hint: See Problem 18 of Section 7.1. (b) Find the general solution of Eqs. (i) in terms of real-valued functions. (c) Find I (t) and V (t) if I (0) = 2 amperes and V (0) = 3 volts. (d) Determine the limiting values of I (t) and V (t) as t → ∞. Do these limiting values depend on the initial conditions?
R1
C R2
L
FIGURE 7.6.5 The circuit in Problem 25.
392
Chapter 7. Systems of First Order Linear Equations
26. The electric circuit shown in Figure 7.6.6 is described by the system of differential equations 1 0 d I L I , (i) = V 1 1 dt V − − C RC where I is the current through the inductor and V is the voltage drop across the capacitor. These differential equations were derived in Problem 18 of Section 7.1. (a) Show that the eigenvalues of the coefficient matrix are real and different if L > 4R 2 C; show that they are complex conjugates if L < 4R 2 C. (b) Suppose that R = 1 ohm, C = 12 farad, and L = 1 henry. Find the general solution of the system (i) in this case. (c) Find I (t) and V (t) if I (0) = 2 amperes and V (0) = 1 volt. (d) For the circuit of part (b) determine the limiting values of I (t) and V (t) as t → ∞. Do these limiting values depend on the initial conditions?
C
R L
FIGURE 7.6.6 The circuit in Problem 26.
27. In this problem we indicate how to show that u(t) and v(t), as given by Eqs. (9), are linearly independent. Let r1 = λ + iµ and r 1 = λ − iµ be a pair of conjugate eigenvalues of the coefficient matrix A of Eq. (1); let (1) = a + ib and (1) = a − ib be the corresponding eigenvectors. Recall that it was stated in Section 7.3 that if r1 = r 1 , then (1) and (1) are linearly independent. (a) First we show that a and b are linearly independent. Consider the equation c1 a + c2 b = 0. Express a and b in terms of (1) and (1) , and then show that (c1 − ic2 ) (1) + (c1 + ic2 ) (1) = 0. (b) Show that c1 − ic2 = 0 and c1 + ic2 = 0 and then that c1 = 0 and c2 = 0. Consequently, a and b are linearly independent. (c) To show that u(t) and v(t) are linearly independent consider the equation c1 u(t0 ) + c2 v(t0 ) = 0, where t0 is an arbitrary point. Rewrite this equation in terms of a and b, and then proceed as in part (b) to show that c1 = 0 and c2 = 0. Hence u(t) and v(t) are linearly independent at the arbitrary point t0 . Therefore they are linearly independent at every point and on every interval. 28. A mass m on a spring with constant k satisfies the differential equation (see Section 3.8) mu + ku = 0, where u(t) is the displacement at time t of the mass from its equilibrium position. (a) Let x1 = u and x2 = u ; show that the resulting system is
0 1 x = x. −k/m 0 (b) Find the eigenvalues of the matrix for the system in part (a).
393
7.7 Fundamental Matrices
(c) Sketch several trajectories of the system. Choose one of your trajectories and sketch the corresponding graphs of x1 versus t and of x2 versus t. Sketch both graphs on one set of axes. (d) What is the relation between the eigenvalues of the coefficient matrix and the natural frequency of the spring–mass system? 䉴 29. Consider the two-mass, three-spring system shown in Figure 7.1.1, whose equations of motion are given in Eqs. (1) of Section 7.1. If there are no external forces, and if the masses and spring constants are equal and of unit magnitude, then the equations of motion are x1 = −2x1 + x2 ,
x2 = x1 − 2x2 .
(a) Transform the system into a system of four first order equations by letting y1 = x1 , y2 = x1 , y3 = x2 , and y4 = x2 . (b) Find the eigenvalues of the coefficient matrix for the system in part (a). (c) Solve the system in part (a) subject to the initial conditions yT(0) = (2, 1, 2, 1). Describe the physical motion of the spring–mass system that corresponds to this √ solution. √ (d) Solve the system in part (a) subject to the initial conditions yT(0) = (2, 3, −2, − 3). Describe the physical motion of the spring–mass system that corresponds to this solution. (e) Observe that the spring–mass system has two natural modes of oscillation in this case. How are the natural frequencies related to the eigenvalues of the coefficient matrix? Do you think that there might be a third natural mode of oscillation with a different frequency?
7.7 Fundamental Matrices The structure of the solutions of systems of linear differential equations can be further illuminated by introducing the idea of a fundamental matrix. Suppose that x(1) (t), . . . , x(n) (t) form a fundamental set of solutions for the equation x = P(t)x on some interval α < t < β. Then the matrix (1) x1 (t) · · · ⌿(t) = ... xn(1) (t)
···
(1) x1(n) (t) .. . , (n) xn (t)
(2)
whose columns are the vectors x(1) (t), . . . , x(n) (t), is said to be a fundamental matrix for the system (1). Note that a fundamental matrix is nonsingular since its columns are linearly independent vectors.
EXAMPLE
1
Find a fundamental matrix for the system 1 x = 4
1 x. 1
In Example 1 of Section 7.5 we found that 3t e e−t (2) (t) = , x x(1) (t) = −2e−t 2e3t
(3)
394
Chapter 7. Systems of First Order Linear Equations
are linearly independent solutions of Eq. (3). Thus a fundamental matrix for the system (3) is 3t e−t e . (4) ⌿(t) = 2e3t −2e−t
The solution of an initial value problem can be written very compactly in terms of a fundamental matrix. The general solution of Eq. (1) is x = c1 x(1) (t) + · · · + cn x(n) (t)
(5)
x = ⌿(t)c,
(6)
or, in terms of ⌿(t),
where c is a constant vector with arbitrary components c1 , . . . , cn . For an initial value problem consisting of the differential equation (1) and the initial condition x(t0 ) = x0 ,
(7)
where t0 is a given point in α < t < β and x0 is a given initial vector, it is only necessary to choose the vector c in Eq. (6) so as to satisfy the initial condition (7). Hence c must satisfy ⌿(t0 )c = x0 .
(8)
Therefore, since ⌿(t0 ) is nonsingular, c = ⌿−1 (t0 )x0
(9)
x = ⌿(t)⌿−1 (t0 )x0
(10)
and
is the solution of the initial value problem (1), (7). We emphasize, however, that to solve a given initial value problem one would ordinarily solve Eq. (8) by row reduction and then substitute for c in Eq. (6), rather than compute ⌿−1 (t0 ) and use Eq. (10). Recall that each column of the fundamental matrix ⌿ is a solution of Eq. (1). It follows that ⌿ satisfies the matrix differential equation ⌿ = P(t)⌿.
(11)
This relation is readily confirmed by comparing the two sides of Eq. (11) column by column. Sometimes it is convenient to make use of the special fundamental matrix, denoted by ⌽(t), whose columns are the vectors x(1) (t), . . . , x(n) (t) designated in Theorem 7.4.4. Besides the differential equation (1) these vectors satisfy the initial conditions x( j) (t0 ) = e( j) ,
(12)
395
7.7 Fundamental Matrices
where e( j) is the unit vector, defined in Theorem 7.4.4, with a one in the jth position and zeros elsewhere. Thus ⌽(t) has the property that 1 0 ··· 0 0 1 ··· 0 = I. (13) ⌽(t0 ) = .. ... ... . 0
0
···
1
We will always reserve the symbol ⌽ to denote the fundamental matrix satisfying the initial condition (13) and use ⌿ when an arbitrary fundamental matrix is intended. In terms of ⌽(t) the solution of the initial value problem (1), (7) is even simpler in appearance; since ⌽−1 (t0 ) = I, it follows from Eq. (10) that x = ⌽(t)x0 .
(14)
While the fundamental matrix ⌽(t) is often more complicated than ⌿(t), it is especially helpful if the same system of differential equations is to be solved repeatedly subject to many different initial conditions. This corresponds to a given physical system that can be started from many different initial states. If the fundamental matrix ⌽(t) has been determined, then the solution for each set of initial conditions can be found simply by matrix multiplication, as indicated by Eq. (14). The matrix ⌽(t) thus represents a transformation of the initial conditions x0 into the solution x(t) at an arbitrary time t. By comparing Eqs. (10) and (14) it is clear that ⌽(t) = ⌿(t)⌿−1 (t0 ).
For the system (3), EXAMPLE
2
x =
1 4
1 x, 1
in Example 1, find the fundamental matrix ⌽ such that ⌽(0) = I. The columns of ⌽ are solutions of Eq. (3) that satisfy the initial conditions 1 0 , x(2) (0) = . x(1) (0) = 0 1
(15)
Since the general solution of Eq. (3) is 1 3t 1 −t x = c1 e + c2 e , 2 −2 we can find the solution satisfying the first set of these initial conditions by choosing c1 = c2 = 12 ; similarly, we obtain the solution satisfying the second set of initial conditions by choosing c1 = 14 and c2 = − 14 . Hence
1 3t 1 −t 1 −t 1 3t e + e e − e 2 4 4 . (16) ⌽(t) = 2 3t 1 −t 1 3t e − e−t e + e 2 2 Note that the elements of ⌽(t) are more complicated than those of the fundamental matrix ⌿(t) given by Eq. (4); however, it is now easy to determine the solution corresponding to any set of initial conditions.
396
Chapter 7. Systems of First Order Linear Equations
The Matrix exp(At).
Recall that the solution of the scalar initial value problem x = ax,
x(0) = x0 ,
(17)
where a is a constant, is x = x0 exp(at).
(18)
Now consider the corresponding initial value problem for an n × n system, namely, x = Ax,
x(0) = x0 ,
(19)
where A is a constant matrix. Applying the results of this section to the problem (19), we can write its solution as x = ⌽(t)x0 ,
(20)
where ⌽(0) = I. Comparing the problems (17) and (19), and their solutions, suggests that the matrix ⌽(t) might have an exponential character. We now explore this possibility. The scalar exponential function exp(at) can be represented by the power series exp(at) = 1 +
∞ an t n n=1
n!
,
(21)
which converges for all t. Let us now replace the scalar a by the n × n constant matrix A, and consider the corresponding series I+
∞ An t n n=1
n!
= I + At +
A2 t 2 An t n + ··· + + ···. 2! n!
(22)
Each term in the series (22) is an n × n matrix. It is possible to show that each element of this matrix sum converges for all t as n → ∞. Thus the series (22) defines as its sum a new matrix, which we denote by exp(At); that is, exp(At) = I +
∞ An t n n=1
n!
,
analogous to the expansion (21) of the scalar function exp(at). By differentiating the series (23) term by term we obtain ∞ ∞ An t n−1 An t n d [exp(At)] = =A I+ = A exp(At). dt (n − 1)! n! n=1 n=1
(23)
(24)
Thus exp(At) satisfies the differential equation d exp(At) = A exp(At). dt Further, when t = 0, exp(At) satisfies the initial condition exp(At) = I. t=0
(25)
(26)
The fundamental matrix ⌽ satisfies the same initial value problem as exp(At), namely, ⌽ = A⌽,
⌽(0) = I.
(27)
397
7.7 Fundamental Matrices
Thus we can identify exp(At) with the fundamental matrix ⌽(t) and we can write the solution of the initial value problem (19) in the form x = exp(At)x0 ,
(28)
which is analogous to the solution (18) of the initial value problem (17). In order to justify more conclusively the use of exp(At) for the sum of the series (22), we should demonstrate that this matrix function does indeed have the properties we associate with the exponential function. One way to do this is outlined in Problem 15. Diagonalizable Matrices. The basic reason why a system of linear (algebraic or differential) equations presents some difficulty is that the equations are usually coupled. In other words, some or all of the equations involve more than one, typically all, of the unknown variables. Hence the equations in the system must be solved simultaneously. In contrast, if each equation involves only a single variable, then each equation can be solved independently of all the others, which is a much easier task. This observation suggests that one way to solve a system of equations might be by transforming it into an equivalent uncoupled system in which each equation contains only one unknown variable. This corresponds to transforming the coefficient matrix A into a diagonal matrix. Eigenvectors are useful in accomplishing such a transformation. Suppose that the n × n matrix A has a full set of n linearly independent eigenvectors. Recall that this will certainly be the case if the eigenvalues of A are all different, or if A is Hermitian. Letting (1) , . . . , (n) denote these eigenvectors and λ1 , . . . , λn the corresponding eigenvalues, form the matrix T whose columns are the eigenvectors, that is, (1) · · · ξ1(n) ξ1 .. (29) T = ... . . ξn(1)
···
ξn(n)
Since the columns of T are linearly independent vectors, det T = 0; hence T is nonsingular and T −1 exists. A straightforward calculation shows that the columns of the matrix AT are just the vectors A(1) , . . . , A(n) . Since A(k) = λk (k) , it follows that (1) λ1 ξ 1 · · · λn ξ1(n) .. AT = ... (30) . = TD, (1) (n) · · · λn ξ n λ1 ξ n where
λ1 0 D= .. .
0 λ2 .. .
0
0
··· ··· ···
0 0 .. . λn
(31)
is a diagonal matrix whose diagonal elements are the eigenvalues of A. From Eq. (30) it follows that T −1 AT = D.
(32)
Thus, if the eigenvalues and eigenvectors of A are known, A can be transformed into a diagonal matrix by the process shown in Eq. (32). This process is known as a similarity
398
Chapter 7. Systems of First Order Linear Equations
transformation, and Eq. (32) is summed up in words by saying that A is similar to the diagonal matrix D. Alternatively, we may say that A is diagonalizable. Observe that a similarity transformation leaves the eigenvalues of A unchanged and transforms its eigenvectors into the coordinate vectors e(1) , . . . , e(n) . If A is Hermitian, then the determination of T −1 is very simple. We choose the eigenvectors (1) , . . . , (n) of A so that they are normalized by ((i) , (i) ) = 1 for each i, as well as orthogonal. Then it is easy to verify that T −1 = T∗ ; in other words, the inverse of T is the same as its adjoint (the transpose of its complex conjugate). Finally, we note that if A has fewer than n linearly independent eigenvectors, then there is no matrix T such that T −1 AT = D. In this case, A is not similar to a diagonal matrix, and is not diagonalizable.
Consider the matrix
EXAMPLE
1 A= 4
3
1 . 1
(33)
Find the similarity transformation matrix T and show that A can be diagonalized. In Example 1 of Section 7.5 we found that the eigenvalues and eigenvectors of A are 1 1 ; r2 = −1, (2) = . (34) r1 = 3, (1) = 2 −2 Thus the transformation matrix T and its inverse T −1 are
1 1 1 1 −1 2 4 T= ; T = 1 . 2 −2 −1 2
Consequently, you can check that
3 T AT = 0 −1
0 = D. −1
(35)
4
(36)
Now let us turn again to the system x = Ax,
(37)
where A is a constant matrix. In Sections 7.5 and 7.6 we have described how to solve such a system by starting from the assumption that x = er t . Now we provide another viewpoint, one based on diagonalizing the coefficient matrix A. According to the results stated just above, it is possible to diagonalize A whenever A has a full set of n linearly independent eigenvectors. Let (1) , . . . , (n) be eigenvectors of A corresponding to the eigenvalues r1 , . . . , rn and form the transformation matrix T whose columns are (1) , . . . , (n) . Then, defining a new dependent variable y by the relation x = Ty,
(38)
Ty = ATy.
(39)
we have from Eq. (37) that
399
7.7 Fundamental Matrices
Multiplying by T −1 , we then obtain y = (T −1 AT)y,
(40)
y = Dy.
(41)
or, using Eq. (32),
Recall that D is the diagonal matrix with the eigenvalues r1 , . . . , rn of A along the diagonal. A fundamental matrix for the system (41) is the diagonal matrix (see Problem 16) r1 t 0 ... 0 e 0 er 2 t . . . 0 . (42) Q(t) = exp(Dt) = .. .. . .. . . 0
···
0
er n t
A fundamental matrix ⌿ for the system (37) is then found from Q by the transformation (38), ⌿ = TQ;
that is,
ξ1(1) er1 t . ⌿(t) = .. ξn(1) er1 t
··· ···
(43) ξ1(n) ern t .. . .
(44)
ξn(n) ern t
Equation (44) is the same result that was obtained in Section 7.5. This diagonalization procedure does not afford any computational advantage over the method of Section 7.5, since in either case it is necessary to calculate the eigenvalues and eigenvectors of the coefficient matrix in the system of differential equations. Nevertheless, it is noteworthy that the problem of solving a system of differential equations and the problem of diagonalizing a matrix are mathematically the same.
Consider again the system of differential equations EXAMPLE
4
x = Ax,
(45)
where A is given by Eq. (33). Using the transformation x = Ty, where T is given by Eq. (35), you can reduce the system (45) to the diagonal system 3 0 y = Dy. (46) y = 0 −1 Obtain a fundamental matrix for the system (46) and then transform it to obtain a fundamental matrix for the original system (45). By multiplying D repeatedly with itself, we find that 9 0 27 0 , D3 = ,.... (47) D2 = 0 1 0 −1
400
Chapter 7. Systems of First Order Linear Equations
Therefore it follows from Eq. (23) that exp(Dt) is a diagonal matrix with the entries e3t and e−t on the diagonal, that is, 3t e 0 eDt = . (48) 0 e−t Finally, we obtain the required fundamental matrix ⌿(t) by multiplying T and exp(Dt): 3t 3t 1 1 e−t e e 0 ⌿(t) = = . (49) 2 −2 0 e−t 2e3t −2e−t Observe that this fundamental matrix is the same as the one found in Example 1.
PROBLEMS
In each of Problems 1 through 10 find a fundamental matrix for the given system of equations. In each case also find the fundamental matrix ⌽(t) satisfying ⌽(0) = I.
1 − 34 3 −2 2 x x 2. x = 1. x = 1 2 −2 − 34 8 2 −1 1 1 3. x = x 4. x = x 3 −2 4 −2 2 −5 −1 −4 5. x = x 6. x = x 1 −2 1 −1 5 −1 1 −1 x 8. x = x 7. x = 3 1 5 −3 1 1 1 1 −1 4 9. x = 2 10. x = 3 1 −1 x 2 −1 x −8 −5 −3 2 1 −1 11. Solve the initial value problem
2 x = 3
−1 x, −2
2 x(0) = −1
by using the fundamental matrix ⌽(t) found in Problem 3. 12. Solve the initial value problem −1 −4 3 x = x, x(0) = 1 −1 1 by using the fundamental matrix ⌽(t) found in Problem 6. 13. Show that ⌽(t) = ⌿(t)⌿−1 (t0 ), where ⌽(t) and ⌿(t) are as defined in this section. 14. The fundamental matrix ⌽(t) for the system (3) was found in Example 2. Show that ⌽(t)⌽(s) = ⌽(t + s) by multiplying ⌽(t) and ⌽(s). 15. Let ⌽(t) denote the fundamental matrix satisfying ⌽ = A⌽, ⌽(0) = I. In the text we also denoted this matrix by exp(At). In this problem we show that ⌽ does indeed have the principal algebraic properties associated with the exponential function. (a) Show that ⌽(t)⌽(s) = ⌽(t + s); that is, exp(At) exp(As) = exp[A(t + s)]. Hint: Show that if s is fixed and t is variable, then both ⌽(t)⌽(s) and ⌽(t + s) satisfy the initial value problem Z = AZ, Z(0) = ⌽(s). (b) Show that ⌽(t)⌽(−t) = I; that is, exp(At) exp[A(−t)] = I. Then show that ⌽(−t) = ⌽−1 (t). (c) Show that ⌽(t − s) = ⌽(t)⌽−1 (s).
401
7.8 Repeated Eigenvalues
16. Show that if A is a diagonal matrix with diagonal elements a1 , a2 , . . . , an , then exp(At) is also a diagonal matrix with diagonal elements exp(a1 t), exp(a2 t), . . . , exp(an t). 17. The method of successive approximations (see Section 2.8) can also be applied to systems of equations. For example, consider the initial value problem x = Ax,
x(0) = x0 ,
(i)
where A is a constant matrix and x0 a prescribed vector. (a) Assuming that a solution x = (t) exists, show that it must satisfy the integral equation
t (t) = x0 + A(s) ds. (ii) 0 (0)
(b) Start with the initial approximation (t) = x0 . Substitute this expression for (s) in the right side of Eq. (ii) and obtain a new approximation (1) (t). Show that
(1) (t) = (I + At)x0 .
(iii)
(c) Repeat this process and thereby obtain a sequence of approximations (0) , (1) , (2) , . . . , (n) , . . . . Use an inductive argument to show that
2 n (n) 2t nt (t) = I + At + A (iv) + ···+ A x0 . 2! n! (d) Let n → ∞ and show that the solution of the initial value problem (i) is
(t) = exp(At)x0 .
(v)
7.8 Repeated Eigenvalues We conclude our consideration of the linear homogeneous system with constant coefficients x = Ax
(1)
with a discussion of the case in which the matrix A has a repeated eigenvalue. Recall that in Section 7.3 we noted that a repeated eigenvalue with multiplicity k may be associated with fewer than k linearly independent eigenvectors. The following example illustrates this possibility.
EXAMPLE
1
Find the eigenvalues and eigenvectors of the matrix 1 −1 A= . 1 3 The eigenvalues r and eigenvectors satisfy the equation (A − r I) = 0, or ξ1 0 1−r −1 = . ξ2 0 1 3−r
(2)
(3)
402
Chapter 7. Systems of First Order Linear Equations
The eigenvalues are the roots of the equation 1 − r −1 = r 2 − 4r + 4 = 0. det(A − r I) = 1 3 − r
(4)
Thus the two eigenvalues are r1 = 2 and r2 = 2; that is, the eigenvalue 2 has multiplicity 2. To determine the eigenvectors we must return to Eq. (3) and use for r the value 2. This gives ξ1 0 −1 −1 = . (5) ξ2 0 1 1 Hence we obtain the single condition ξ1 + ξ2 = 0, which determines ξ2 in terms of ξ1 , or vice versa. Thus the eigenvector corresponding to the eigenvalue r = 2 is 1 (1) = , (6) −1 or any nonzero multiple of this vector. Observe that there is only one linearly independent eigenvector associated with the double eigenvalue.
Returning to the system (1), suppose that r = ρ is a k-fold root of the determinantal equation det(A − r I) = 0.
(7)
Then ρ is an eigenvalue of multiplicity k of the matrix A. In this event, there are two possibilities: either there are k linearly independent eigenvectors corresponding to the eigenvalue ρ, or else there are fewer than k such eigenvectors. In the first case, let (1) , . . . , (k) be k linearly independent eigenvectors associated with the eigenvalue ρ of multiplicity k. Then x(1) (t) = (1) eρt , . . . , x(k) (t) = (k) eρt are k linearly independent solutions of Eq. (1). Thus in this case it makes no difference that the eigenvalue r = ρ is repeated; there is still a fundamental set of solutions of Eq. (1) of the form er t . This case always occurs if the coefficient matrix A is Hermitian. However, if the coefficient matrix is not Hermitian, then there may be fewer than k independent eigenvectors corresponding to an eigenvalue ρ of multiplicity k, and if so, there will be fewer than k solutions of Eq. (1) of the form eρt associated with this eigenvalue. Therefore, to construct the general solution of Eq. (1) it is necessary to find other solutions of a different form. By analogy with previous results for linear equations of order n, it is natural to seek additional solutions involving products of polynomials and exponential functions. We first consider an example.
Find a fundamental set of solutions of EXAMPLE
2
x = Ax = and draw a phase portrait for this system.
1 1
−1 x 3
(8)
403
7.8 Repeated Eigenvalues x2 2 1
–2
–1
1
2
x1
–1 –2
FIGURE 7.8.1 A direction field for the system (8).
A direction field for the system (8) is shown in Figure 7.8.1. From this figure it appears that all nonzero solutions depart from the origin. To solve the system observe that the coefficient matrix A is the same as the matrix in Example 1. Thus we know that r = 2 is a double eigenvalue and that it has only a single corresponding eigenvector, which we may take as T = (1, −1). Thus one solution of the system (8) is 1 2t (9) x(1) (t) = e , −1 but there is no second solution of the form x = er t . Based on the procedure used for second order linear equations in Section 3.5, it may be natural to attempt to find a second solution of the system (8) of the form x = te2t ,
(10)
where is a constant vector to be determined. Substituting for x in Eq. (8) gives 2te2t + e2t − Ate2t = 0.
(11) 2t
For Eq. (11) to be satisfied for all t it is necessary for the coefficients of te and e2t each to be zero. From the term in e2t we find that = 0.
(12)
Hence there is no nonzero solution of the system (8) of the form (10). Since Eq. (11) contains terms in both te2t and e2t , it appears that in addition to te2t the second solution must contain a term of the form e2t ; in other words, we need to assume that x = te2t + e2t ,
(13)
where and are constant vectors. Upon substituting this expression for x in Eq. (8) we obtain 2te2t + ( + 2)e2t = A(te2t + e2t ). 2t
(14)
2t
Equating coefficients of te and e on each side of Eq. (14) gives the conditions (A − 2I) = 0
(15)
404
Chapter 7. Systems of First Order Linear Equations
and (A − 2I) =
(16)
for the determination of and . Equation (15) is satisfied if is an eigenvector of A corresponding to the eigenvalue r = 2, that is, T = (1, −1). Since det(A − 2I) is zero, we might expect that Eq. (16) cannot be solved. However, this is not necessarily true, since for some vectors it is possible to solve Eq. (16). In fact, the augmented matrix for Eq. (16) is −1 −1 | 1 . 1 1 | −1 The second row of this matrix is proportional to the first, so the system is solvable. We have −η1 − η2 = 1, so if η1 = k, where k is arbitrary, then η2 = −k − 1. If we write k 0 1 = = +k , −1 − k −1 −1 then by substituting for and in Eq. (13) we obtain 0 2t 1 2t 1 2t e +k e . x= te + −1 −1 −1
(17)
(18)
The last term in Eq. (18) is merely a multiple of the first solution x(1) (t), and may be ignored, but the first two terms constitute a new solution: 1 0 2t te2t + e . (19) x(2) (t) = −1 −1 An elementary calculation shows that W [x(1) , x(2) ](t) = −e4t , and therefore x(1) and x(2) form a fundamental set of solutions of the system (8). The general solution is x = c1 x(1) (t) + c2 x(2) (t) 0 2t 1 2t 1 2t = c1 e . e + c2 te + −1 −1 −1
(20)
The graph of the solution (20) is a little more difficult to analyze than in some of the previous examples. It is clear that x becomes unbounded as t → ∞ and that x → 0 as t → −∞. It is possible to show that as t → −∞, all solutions approach the origin tangent to the line x2 = −x1 determined by the eigenvector. Similarly, as t → ∞, each trajectory is asymptotic to a line of slope −1. The trajectories of the system (8) are shown in Figure 7.8.2a and some typical plots of x1 versus t are shown in Figure 7.8.2b. The pattern of trajectories in this figure is typical of second order systems x = Ax with equal eigenvalues and only one independent eigenvector. The origin is called an improper node in this case. If the eigenvalues are negative, then the trajectories are similar, but are traversed in the inward direction. An improper node is asymptotically stable or unstable, depending on whether the eigenvalues are negative or positive.
405
7.8 Repeated Eigenvalues x(1)(t)
–2
x2 x(2)(t)
x1
2
2
1
1
–1
1
2
1
x1
–1
–1
–2
–2
(a)
2
t
(b)
FIGURE 7.8.2 (a) Trajectories of the system (8); the origin is an improper node. (b) Plots of x1 versus t for the system (8).
One difference between a system of two first order equations and a single second order equation is evident from the preceding example. Recall that for a second order linear equation with a repeated root r1 of the characteristic equation, a term cer1 t in the second solution is not required since it is a multiple of the first solution. On the other hand, for a system of two first order equations, the term er1 t of Eq. (13) with r1 = 2 is not a multiple of the first solution er1 t , so the term er1 t must be retained. Example 2 is entirely typical of the general case when there is a double eigenvalue and a single associated eigenvector. Consider again the system (1), and suppose that r = ρ is a double eigenvalue of A, but that there is only one corresponding eigenvector . Then one solution [similar to Eq. (9)] is x(1) (t) = eρt ,
(21)
(A − ρI) = 0.
(22)
where satisfies
By proceeding as in Example 2 we find that a second solution [similar to Eq. (19)] is x(2) (t) = teρt + eρt ,
(23)
where satisfies Eq. (22) and is determined from (A − ρI) = .
(24)
Even though det(A − ρI) = 0, it can be shown that it is always possible to solve Eq. (24) for . The vector is called a generalized eigenvector corresponding to the eigenvalue ρ. Fundamental Matrices. As explained in Section 7.7, fundamental matrices are formed by arranging linearly independent solutions in columns. Thus, for example, a
406
Chapter 7. Systems of First Order Linear Equations
fundamental matrix for the system (8) can be formed from the solutions x(1) (t) and x(2) (t) from Eqs. (9) and (19), respectively: 2t e te2t 1 t 2t ⌿(t) = = e . (25) −1 −1 − t −e2t −te2t − e2t The matrix ⌽ that satisfies ⌽(0) = I can also be readily found from the relation ⌽(t) = ⌿(t)⌿−1 (0). For Eq. (8) we have
⌿(0) =
and then
0 , −1
1 −1
⌿−1 (0) =
1 −1
1 t 1 ⌽(t) = ⌿(t)⌿ (0) = e −1 −1 − t −1 −t 2t 1 − t . =e t 1+t −1
0 , −1
2t
0 −1
(26)
(27)
The latter matrix is also the exponential matrix exp(At). Jordan Forms. An n × n matrix A can be diagonalized as discussed in Section 7.7 only if it has a full complement of n linearly independent eigenvectors. If there is a shortage of eigenvectors (because of repeated eigenvalues), then A can always be transformed into a nearly diagonal matrix called its Jordan5 form, which has the eigenvalues of A on the main diagonal, ones in certain positions on the diagonal above the main diagonal, and zeros elsewhere. Consider again the matrix A given by Eq. (2). Form the transformation matrix T with the single eigenvector from Eq. (6) in its first column and the generalized eigenvector from Eq. (17) with k = 0 in the second column. Then T and its inverse are given by 1 0 1 0 −1 T= , T = . (28) −1 −1 −1 −1 As you can verify, it follows that T−1 AT =
2 0
1 = J. 2
(29)
The matrix J in Eq. (29) is the Jordan form of A. It is typical of all Jordan forms in that it has a 1 above the main diagonal in the column corresponding to the eigenvector that is lacking (and is replaced in T by the generalized eigenvector). If we start again from Eq. (1), x = Ax, the transformation x = Ty, where T is given by Eq. (28), produces the system y = Jy,
(30)
where J is given by Eq. (29). In scalar form the system (30) is y1 = 2y1 + y2 ,
y2 = 2y2 .
(31)
5 Camille Jordan (1838–1921), professor at the E´cole Polytechnique and the Colle`ge de France, made important contributions to analysis, topology, and especially to algebra. The Jordan form of a matrix appeared in his influential book Traite´ des substitutions et des e´quations alge´briques, published in 1870.
407
7.8 Repeated Eigenvalues
These equations can be solved readily in reverse order. In this way we obtain y2 = c1 e2t ,
y1 = c1 te2t + c2 e2t .
Thus two independent solutions of the system (30) are 1 2t t 2t y(1) (t) = e , y(2) = e 0 1 and the corresponding fundamental matrix is 2t e ⌿(t) = 0
te2t . e2t
(32)
(33)
(34)
(0) = I, we can also indentify the matrix in Eq. (34) as exp(Jt). The same result Since ⌿ can be reached by calculating powers of J and substituting them into the exponential series (see Problems 19 through 21). To obtain a fundamental matrix for the original system we now form the product 2t e te2t ⌿(t) = T exp(Jt) = , (35) −e2t −e2t − te2t which is the same as the fundamental matrix given in Eq. (25).
PROBLEMS
In each of Problems 1 through 6 find the general solution of the given system of equations. In each of Problems 1 through 4 also draw a direction field, sketch a few trajectories, and describe how the solutions behave as t → ∞. 3 −4 4 −2 x x 䉴 1. x = 䉴 2. x = 1 −1 8 −4
1 − 32 −3 52 x x 䉴 3. x = 䉴 4. x = − 14 − 12 − 52 2 1 1 1 0 1 1 5. x = 2 6. x = 1 0 1 x 1 −1 x 0 −1 1 1 1 0
䉴 䉴 䉴 䉴
In each of Problems 7 through 10 find the solution of the given initial value problem. Draw the trajectory of the solution in the x1 x2 -plane and also the graph of x1 versus t. 1 −4 3 7. x = x, x(0) = 4 −7 2
3 − 52 3 2 x, x(0) = 8. x = 1 −1 − 32 2
3 2 3 2 x, x(0) = 9. x = −2 − 32 −1 3 9 2 10. x = x, x(0) = −1 −3 4
408
Chapter 7. Systems of First Order Linear Equations
In each of Problems 11 and 12 find the solution of the given initial value problem. Draw the corresponding trajectory in x1 x2 x3 -space and also draw the graph of x1 versus t. −1 1 0 0 x(0) = 2 䉴 11. x = −4 1 0 x, 3 6 2 −30 5 −2 1 1 2 x(0) = 3 1 x, 䉴 12. x = 1 − 52 −1 1 1 −5 2
In each of Problems 13 and 14 solve the given system of equations by the method of Problem 19 of Section 7.5. Assume that t > 0. 3 −4 1 −4 x 14. tx = x 13. tx = 1 −1 4 −7 15. Show that all solutions of the system x =
a c
b x d
approach zero as t → ∞ if and only if a + d < 0 and ad − bc > 0. Compare this result with that of Problem 38 in Section 3.5. 16. Consider again the electric circuit in Problem 26 of Section 7.6. This circuit is described by the system of differential equations 1 0 d I L I . = V 1 1 dt V − − C RC (a) Show that the eigenvalues are real and equal if L = 4R 2 C. (b) Suppose that R = 1 ohm, C = 1 farad, and L = 4 henrys. Suppose also that I (0) = 1 ampere and V (0) = 2 volts. Find I (t) and V (t). Eigenvalues of Multiplicity 3. If the matrix A has an eigenvalue of multiplicity 3, then there may be either one, two, or three corresponding linearly independent eigenvectors. The general solution of the system x = Ax is different, depending on the number of eigenvectors associated with the triple eigenvalue. As noted in the text, there is no difficulty if there are three eigenvectors, since then there are three independent solutions of the form x = er t . The following two problems illustrate the solution procedure for a triple eigenvalue with one or two eigenvectors, respectively. 17. Consider the system
1 x = Ax = 2 −3
1 1 2
1 −1 x. 4
(i)
(a) Show that r = 2 is an eigenvalue of multiplicity 3 of the coefficient matrix A and that there is only one corresponding eigenvector, namely, 0 (1) = 1 . −1
409
7.8 Repeated Eigenvalues
(b) Using the information in part (a), write down one solution x(1) (t) of the system (i). There is no other solution of the purely exponential form x = er t . (c) To find a second solution assume that x = te2t + e2t . Show that and satisfy the equations (A − 2I) = 0,
(A − 2I) = .
Since has already been found in part (a), solve the second equation for . Neglect the multiple of (1) that appears in , since it leads only to a multiple of the first solution x(1) . Then write down a second solution x(2) (t) of the system (i). (d) To find a third solution assume that x = (t 2 /2)e2t + te2t + e2t . Show that , , and satisfy the equations (A − 2I) = 0,
(A − 2I) = ,
(A − 2I) = .
The first two equations are the same as in part (c), so solve the third equation for , again neglecting the multiple of (1) that appears. Then write down a third solution x(3) (t) of the system (i). (e) Write down a fundamental matrix ⌿(t) for the system (i). (f) Form a matrix T with the eigenvector (1) in the first column, and the generalized eigenvectors and in the second and third columns. Then find T−1 and form the product J = T−1 AT. The matrix J is the Jordan form of A. 18. Consider the system 5 −3 −2 x = Ax = 8 −5 −4 x. (i) −4 3 3 (a) Show that r = 1 is a triple eigenvalue of the coefficient matrix A, and that there are only two linearly independent eigenvectors, which we may take as 1 0 (1) = 0 , (2) = 2 . (ii) 2 −3 Find two linearly independent solutions x(1) (t) and x(2) (t) of Eq. (i). (b) To find a third solution assume that x = tet + et ; then show that and must satisfy (A − I) = 0, (A − I) = .
(iii) (iv)
(c) Show that = c1 (1) + c2 (2) , where c1 and c2 are arbitrary constants, is the most general solution of Eq. (iii). Show that in order to solve Eq. (iv) it is necessary that c1 = c2 . (d) It is convenient to choose c1 = c2 = 2. For this choice show that 2 0 (v) = 4 , = 0 , −2 −1 where we have dropped the multiples of (1) and (2) that appear in . Use the results given in Eqs. (v) to find a third linearly independent solution x(3) (t) of Eq. (i). (e) Write down a fundamental matrix ⌿(t) for the system (i). (f) Form a matrix T with the eigenvector (1) in the first column and with the eigenvector and the generalized eigenvector from Eqs. (v) in the other two columns. Find T−1 and form the product J = T−1 AT. The matrix J is the Jordan form of A.
410
Chapter 7. Systems of First Order Linear Equations
19. Let J =
λ 0
1 , where λ is an arbitrary real number. λ
(a) Find J2 , J3 , and J4 .
(b) Use an inductive argument to show that J = n
λn 0
nλn−1 . n λ
(c) Determine exp(Jt). (d) Use exp(Jt) to solve the initial value problem x = Jx, x(0) = x0 . 20. Let λ J = 0 0
0 λ 0
0 1 , λ
where λ is an arbitrary real number. (a) Find J2 , J3 , and J4 . (b) Use an inductive argument to show that n λ Jn = 0 0
0 λn 0
0 nλn−1 . λn
(c) Determine exp(Jt). (d) Observe that if you choose λ = 1, then the matrix J in this problem is the same as the matrix J in Problem 18(f). Using the matrix T from Problem 18(f), form the product T exp(Jt) with λ = 1. Is the resulting matrix the same as the fundamental matrix ⌿(t) in Problem 18(e)? If not, explain the discrepancy. 21. Let λ J = 0 0
1 λ 0
0 1 , λ
where λ is an arbitrary real number. (a) Find J2 , J3 , and J4 . (b) Use an inductive argument to show that n λ J =0 0 n
nλn−1 λn 0
[n(n − 1)/2]λn−2 n−1 . nλ λn
(c) Determine exp(Jt). (d) Observe that if you choose λ = 2, then the matrix J in this problem is the same as the matrix J in Problem 17(f). Using the matrix T from Problem 17(f), form the product T exp(Jt) with λ = 2. Observe that the resulting matrix is the same as the fundamental matrix ⌿(t) in Problem 17(e).
411
7.9 Nonhomogeneous Linear Systems
7.9 Nonhomogeneous Linear Systems In this section we turn to the nonhomogeneous system x = P(t)x + g(t),
(1)
where the n × n matrix P(t) and n × 1 vector g(t) are continuous for α < t < β. By the same argument as in Section 3.6 (see also Problem 16 in this section) the general solution of Eq. (1) can be expressed as x = c1 x(1) (t) + · · · + cn x(n) (t) + v(t),
(2)
where c1 x(1) (t) + · · · + cn x(n) (t) is the general solution of the homogeneous system x = P(t)x, and v(t) is a particular solution of the nonhomogeneous system (1). We will briefly describe several methods for determining v(t). Diagonalization.
We begin with systems of the form x = Ax + g(t),
(3)
where A is an n × n diagonalizable constant matrix. By diagonalizing the coefficient matrix A, as indicated in Section 7.7, we can transform Eq. (3) into a system of equations that is readily solvable. Let T be the matrix whose columns are the eigenvectors (1) , . . . , (n) of A, and define a new dependent variable y by x = Ty.
(4)
Then substituting for x in Eq. (3), we obtain Ty = ATy + g(t). By multiplying by T −1 it follows that y = (T −1 AT)y + T −1 g(t) = Dy + h(t),
(5)
where h(t) = T −1 g(t) and where D is the diagonal matrix whose diagonal entries are the eigenvalues r1 , . . . , rn of A, arranged in the same order as the corresponding eigenvectors (1) , . . . , (n) that appear as columns of T. Equation (5) is a system of n uncoupled equations for y1 (t), . . . , yn (t); as a consequence, the equations can be solved separately. In scalar form Eq. (5) has the form yj (t) = r j yj (t) + h j (t),
j = 1, . . . , n,
(6)
where h j (t) is a certain linear combination of g1 (t), . . . , gn (t). Equation (6) is a first order linear equation and can be solved by the methods of Section 2.1. In fact, we have
t r t −r s r t yj (t) = e j e j h j (s) ds + c j e j , j = 1, . . . , n, (7) t0
where the c j are arbitrary constants. Finally, the solution x of Eq. (3) is obtained from Eq. (4). When multiplied by the transformation matrix T, the second term on the right side of Eq. (7) produces the general solution of the homogeneous equation x = Ax, while the first term on the right side of Eq. (7) yields a particular solution of the nonhomogeneous system (3).
412
Chapter 7. Systems of First Order Linear Equations
EXAMPLE
1
Find the general solution of the system −t −2 1 2e = Ax + g(t). x = x+ 3t 1 −2
(8)
Proceeding as in Section 7.5, we find that the eigenvalues of the coefficient matrix are r1 = −3 and r2 = −1, and the corresponding eigenvectors are 1 1 (1) (2) = , = . (9) −1 1 Thus the general solution of the homogeneous system is 1 −3t 1 −t x = c1 e + c2 e . −1 1
(10)
Before writing down the matrix T of eigenvectors we recall that eventually we must find T −1 . The coefficient matrix A is real and symmetric, so we can use the result stated at the end of Section 7.3: T −1 is simply the adjoint or (since T is real) the transpose of T, provided that the eigenvectors of A are normalized so that (, ) = 1. Hence, upon normalizing (1) and (2) , we have 1 1 1 −1 1 1 −1 T= √ , T =√ . (11) 1 2 −1 1 2 1 Letting x = Ty and substituting for x in Eq. (8), we obtain the following system of equations for the new dependent variable y: 1 2e−t − 3t −3 0 −1 y+ √ y = Dy + T g(t) = . (12) −t 0 −1 2 2e + 3t Thus √
3 2e−t − √ t, 2 √ −t 3 y2 + y2 = 2e + √ t. 2
y1 + 3y1 =
(13)
Each of Eqs. (13) is a first order linear equation, and so can be solved by the methods of Section 2.1. In this way we obtain √ 3 t 1 2 −t y1 = e −√ − + c1 e−3t , 2 3 9 2 (14) √ −t 3 −t y2 = 2te + √ (t − 1) + c2 e . 2 Finally, we write the solution in terms of the original variables: 1 y1 + y2 x = Ty = √ 2 −y1 + y2
√ √ (c1 / 2)e−3t + [(c2 / 2) + 12 ]e−t + t − 43 + te−t √ √ = −(c1 / 2)e−3t + [(c2 / 2) − 12 ]e−t + 2t − 53 + te−t
413
7.9 Nonhomogeneous Linear Systems
1 1 −t 1 −3t 1 −t 1 te−t e + e + k2 e + 1 −1 1 2 −1 1 4 1 + t− , (15) 2 3 5 √ √ where k1 = c1 / 2 and k2 = c2 / 2. The first two terms on the right side of Eq. (15) form the general solution of the homogeneous system corresponding to Eq. (8). The remaining terms are a particular solution of the nonhomogeneous system.
= k1
If the coefficient matrix A in Eq. (3) is not diagonalizable (due to repeated eigenvalues and a shortage of eigenvectors), it can nevertheless be reduced to a Jordan form J by a suitable transformation matrix T involving both eigenvectors and generalized eigenvectors. In this case the differential equations for y1 , . . . , yn are not totally uncoupled since some rows of J have two nonzero elements, an eigenvalue in the diagonal position and a 1 in the adjacent position to the right. However, the equations for y1 , . . . , yn can still be solved consecutively, starting with yn . Then the solution of the original system (3) can be found by the relation x = Ty. Undetermined Coefficients. A second way to find a particular solution of the nonhomogeneous system (1) is the method of undetermined coefficients. To make use of this method, one assumes the form of the solution with some or all of the coefficients unspecified, and then seeks to determine these coefficients so as to satisfy the differential equation. As a practical matter, this method is applicable only if the coefficient matrix P is a constant matrix, and if the components of g are polynomial, exponential, or sinusoidal functions, or sums or products of these. In these cases the correct form of the solution can be predicted in a simple and systematic manner. The procedure for choosing the form of the solution is substantially the same as that given in Section 3.6 for linear second order equations. The main difference is illustrated by the case of a nonhomogeneous term of the form ueλt , where λ is a simple root of the characteristic equation. In this situation, rather than assuming a solution of the form ateλt , it is necessary to use ateλt + beλt , where a and b are determined by substituting into the differential equation.
EXAMPLE
2
Use the method of undetermined coefficients to find a particular solution of −t −2 1 2e x = = Ax + g(t). x+ 3t 1 −2
(16)
This is the same system of equations as in Example 1. To use the method of undetermined coefficients, we write g(t) in the form 0 2 −t t. (17) g(t) = e + 3 0 Then we assume that x = v(t) = ate−t + be−t + ct + d,
(18)
where a, b, c, and d are vectors to be determined. Observe that r = −1 is an eigenvalue of the coefficient matrix, and therefore we must include both ate−t and be−t in the
414
Chapter 7. Systems of First Order Linear Equations
assumed solution. By substituting Eq. (18) into Eq. (16) and collecting terms, we obtain the following algebraic equations for a, b, c, and d: Aa = −a,
2 Ab = a − b − , 0 0 Ac = − , 3 Ad = c.
(19)
From the first of Eqs. (19) we see that a is an eigenvector of A corresponding to the eigenvalue r = −1. Thus aT = (α, α), where α is any nonzero constant. Then we find that the second of Eqs. (19) can be solved only if α = 1 and that in this case 1 0 b=k − (20) 1 1 for any constant k. The simplest choice is k = 0, from which bT = (0, −1). Then the third and fourth of Eqs. (19) yield cT = (1, 2) and dT = (− 43 , − 53 ), respectively. Finally, from Eq. (18) we obtain the particular solution 1 4 0 −t 1 1 v(t) = e + t− te−t − . (21) 1 2 1 3 5 The particular solution (21) is not identical to the one contained in Eq. (15) of Example 1 because the term in e−t is different. However, if we choose k = 12 in Eq. (20), then bT = ( 12 , − 12 ) and the two particular solutions agree. Variation of Parameters. Now let us turn to more general problems in which the coefficient matrix is not constant or not diagonalizable. Let x = P(t)x + g(t),
(22)
where P(t) and g(t) are continuous on α < t < β. Assume that a fundamental matrix ⌿(t) for the corresponding homogeneous system x = P(t)x
(23)
has been found. We use the method of variation of parameters to construct a particular solution, and hence the general solution, of the nonhomogeneous system (22). Since the general solution of the homogeneous system (23) is ⌿(t)c, it is natural to proceed as in Section 3.7, and to seek a solution of the nonhomogeneous system (22) by replacing the constant vector c by a vector function u(t). Thus, we assume that x = ⌿(t)u(t),
(24)
where u(t) is a vector to be found. Upon differentiating x as given by Eq. (24) and requiring that Eq. (22) be satisfied, we obtain ⌿ (t)u(t) + ⌿(t)u (t) = P(t)⌿(t)u(t) + g(t).
(25)
Since ⌿(t) is a fundamental matrix, ⌿ (t) = P(t)⌿(t); hence Eq. (25) reduces to ⌿(t)u (t) = g(t).
(26)
415
7.9 Nonhomogeneous Linear Systems
Recall that ⌿(t) is nonsingular on any interval where P is continuous. Hence ⌿−1 (t) exists, and therefore u (t) = ⌿−1 (t)g(t).
(27)
Thus for u(t) we can select any vector from the class of vectors that satisfy Eq. (27); these vectors are determined only up to an arbitrary additive constant (vector); therefore we denote u(t) by
(28) u(t) = ⌿−1 (s)g(s) ds + c, where the constant vector c is arbitrary. Finally, substituting for u(t) in Eq. (24) gives the solution x of the system (22):
(29) x = ⌿(t)c + ⌿(t) ⌿−1 (s)g(s) ds. Since c is arbitrary, any initial condition at a point t = t0 can be satisfied by an appropriate choice of c. Thus, every solution of the system (22) is contained in the expression given by Eq. (29); it is therefore the general solution of Eq. (22). Note that the first term on the right side of Eq. (29) is the general solution of the corresponding homogeneous system (23), and the second term is a particular solution of Eq. (22) itself. Now let us consider the initial value problem consisting of the differential equation (22) and the initial condition x(t0 ) = x0 .
(30)
We can write the solution of this problem most conveniently if we choose for the particular solution in Eq. (29) the specific one that is equal to the zero vector when t = t0 . This can be done by using t0 as the lower limit of integration in Eq. (29), so that the general solution of the differential equation takes the form
t x = ⌿(t)c + ⌿(t) ⌿−1 (s)g(s) ds. (31) t0
The initial condition (30) can also be satisfied provided that c = ⌿−1 (t0 )x0 . Therefore −1
x = ⌿(t)⌿ (t0 )x + ⌿(t)
t
0
(32)
⌿−1 (s)g(s) ds
(33)
t0
is the solution of the given initial value problem. Again, while it is helpful to use ⌿−1 to write the solutions (29) and (33), it is usually better in particular cases to solve the necessary equations by row reduction rather than to calculate ⌿−1 and substitute into Eqs. (29) and (33). The solution (33) takes a slightly simpler form if we use the fundamental matrix ⌽(t) satisfying ⌽(t0 ) = I. In this case we have
t 0 x = ⌽(t)x + ⌽(t) ⌽−1 (s)g(s) ds. (34) t0
416
Chapter 7. Systems of First Order Linear Equations
Equation (34) can be simplified further if the coefficient matrix P(t) is a constant matrix (see Problem 17).
EXAMPLE
3
Use the method of variation of parameters to find the general solution of the system −t −2 1 2e = Ax + g(t). (35) x = x+ 3t 1 −2 This is the same system of equations as in Examples 1 and 2. The general solution of the corresponding homogeneous system was given in Eq. (10). Thus −3t e e−t ⌿(t) = (36) −e−3t e−t is a fundamental matrix. Then the solution x of Eq. (35) is given by x = ⌿(t)u(t), where u(t) satisfies ⌿(t)u (t) = g(t), or −t −3t e−t u1 2e e . (37) = u 2 3t −e−3t e−t Solving Eq. (37) by row reduction, we obtain u 1 = e2t − 32 te3t ,
u 2 = 1 + 32 tet . Hence
u 1 (t) = 12 e2t − 12 te3t + 16 e3t + c1 , u 2 (t) = t + 32 tet − 32 et + c2 , and x = ⌿(t)u(t) 1 1 1 −t 1 −3t 1 −t −t te + = c1 e e + c2 e + 1 −1 1 2 −1 1 4 1 + t− , 2 3 5
(38)
which is the same as the solution obtained previously. Each of the methods for solving nonhomogeneous equations has some advantages and disadvantages. The method of undetermined coefficients requires no integration, but is limited in scope and may entail the solution of several sets of algebraic equations. The method of diagonalization requires finding the inverse of the transformation matrix and the solution of a set of uncoupled first order linear equations, followed by a matrix multiplication. Its main advantage is that for Hermitian coefficient matrices the inverse of the transformation matrix can be written down without calculation, a feature that is more important for large systems. Variation of parameters is the most general method. On the other hand, it involves the solution of a set of linear algebraic equations with variable coefficients, followed by an integration and a matrix multiplication, so it may also be the most complicated from a computational viewpoint. For many small systems
417
7.9 Nonhomogeneous Linear Systems
with constant coefficients, such as the one in the examples in this section, there may be little reason to select one of these methods over another. Keep in mind, however, that the method of diagonalization is slightly more complicated if the coefficient matrix is not diagonalizable, but only reducible to a Jordan form, and the method of undetermined coefficients is practical only for the kinds of nonhomogeneous terms mentioned earlier. For initial value problems for linear systems with constant coefficients, the Laplace transform is often an effective tool also. Since it is used in essentially the same way as described in Chapter 6 for single scalar equations, we do not give any details here.
PROBLEMS
In each of Problems 1 through 12 find the general solution of the given system of equations. t t √ e 2 −1 e 1 3 1. x = 2. x = √ x + √ −t x+ t 3 −2 3e 3 −1 −2t 2 −5 − cos t 1 1 e 3. x = x+ 4. x = x+ 1 −2 sin t 4 −2 −2et −3 4 −2 t 5. x = x+ , t >0 8 −4 −t −2 −1 −4 2 t 6. x = x+ , t >0 2 −1 2t −1 + 4 1 1 2 t 2 −1 1 t x+ e 8. x = x+ e 7. x = 4 1 −1 3 −2 −1
√ 3 − 54 2t −3 1 −t 2 4 √ e x + 10. x 9. x = = x + t 3 5 e −1 2 −2 − 4 4 2 −5 0 11. x = x+ , 0
1 − 12 − 18 dx 2 I (t), (i) x + = dt 2 − 12 0 where x1 is the current through the inductor, x2 is the voltage drop across the capacitor, and I (t) is the current supplied by the external source. (a) Determine a fundamental matrix ⌿(t) for the homogeneous system corresponding to Eq. (i). Refer to Problem 25 of Section 7.6.
L = 8 henrys
I(t) C= R = 4 ohms
1 2
farad
R = 4 ohms
FIGURE 7.9.1 The circuit in Problem 13.
418
Chapter 7. Systems of First Order Linear Equations
(b) If I (t) = e−t/2 , determine the solution of the system (i) that also satisfies the initial conditions x(0) = 0. In each of Problems 14 and 15 verify that the given vector is the general solution of the corresponding homogeneous system, and then solve the nonhomogeneous system. Assume that t > 0. 1 1 −1 2 −1 1 − t2 t + c2 t x+ , x(c) = c1 14. tx = 1 3 3 −2 2t −2t 3 −2 1 −1 2 2 (c) 15. tx = x+ 4 t + c2 t , x = c1 2 −2 2 1 t −1 16. Let x = (t) be the general solution of x = P(t)x + g(t), and let x = v(t) be some particular solution of the same system. By considering the difference (t) − v(t), show that (t) = u(t) + v(t), where u(t) is the general solution of the homogeneous system x = P(t)x. 17. Consider the initial value problem x = Ax + g(t),
x(0) = x0 .
(a) By referring to Problem 15(c) in Section 7.7, show that
t x = ⌽(t)x0 + ⌽(t − s)g(s) ds. 0
(b) Show also that
t
x = exp(At)x0 +
exp[A(t − s)]g(s) ds.
0
Compare these results with those of Problem 27 in Section 3.7.
REFERENCES
Further information on matrices and linear algebra is available in any introductory book on the subject. The following is a representative sample:
Anton, H., and Rorres, C., Elementary Linear Algebra (8th ed.) (New York: Wiley, 2000). Johnson, L. W., Riess, R. D., and Arnold, J. T., Introduction to Linear Algebra (4th ed.) (Reading, MA: Addison-Wesley, 1997). Kolman, B., Elementary Linear Algebra (7th ed.) (Upper Saddle River, NJ: Prentice Hall, 1999). Leon, S. J., Linear Algebra with Applications (4th ed.) (New York: Macmillan, 1994). Strang, G., Linear Algebra and Its Applications (3rd ed.) (New York: Academic Press, 1988).
CHAPTER
8
Numerical Methods
Up to this point we have discussed methods for solving differential equations by using analytical techniques such as integration or series expansions. Usually, the emphasis was on finding an exact expression for the solution. Unfortunately, there are many important problems in engineering and science, especially nonlinear ones, to which these methods either do not apply or are very complicated to use. In this chapter we discuss an alternative approach, the use of numerical approximation methods to obtain an accurate approximation to the solution of an initial value problem. The procedures described here can be executed easily on personal computers as well as on some pocket calculators.
8.1 The Euler or Tangent Line Method To discuss the development and use of numerical procedures we will concentrate mainly on the first order initial value problem consisting of the differential equation dy = f (t, y) dt
(1)
y(t0 ) = y0 .
(2)
and the initial condition
We assume that the functions f and f y are continuous on some rectangle in the t y-plane containing the point (t0 , y0 ). Then, by Theorem 2.4.2, there exists a unique solution
419
420
Chapter 8. Numerical Methods
y = φ(t) of the given problem in some interval about t0 . If Eq. (1) is nonlinear, then the interval of existence of the solution may be difficult to determine and may have no simple relationship to the function f . However, in all our discussions we assume that there is a unique solution of the initial value problem (1), (2) in the interval of interest. In Section 2.7 we described the oldest and simplest numerical approximation method, namely, the Euler or tangent line method. This method is expressed by the equation yn+1 = yn + f (tn , yn )(tn+1 − tn ),
n = 0, 1, 2, . . . .
(3)
If the step size has a uniform value h and if we denote f (tn , yn ) by f n , then Eq. (3) simplifies to yn+1 = yn + f n h,
n = 0, 1, 2, . . . .
(4)
Euler’s method consists of repeatedly evaluating Eq. (3) or (4), using the result of each step to execute the next step. In this way you obtain a sequence of values y0 , y1 , y2 , . . . , yn , . . . that approximate the values of the solution φ(t) at the points t0 , t 1 , t 2 , . . . , t n , . . . . In Section 2.7 we pointed out that a computer program for Euler’s method has the structure given below. The specific instructions can be written in any convenient programming language. The Euler Method Step 1. define f (t, y) Step 2. input initial values t0 and y0 Step 3. input step size h and number of steps n Step 4. output t0 and y0 Step 5. for j from 1 to n do Step 6. k1 = f (t, y) y = y + h ∗ k1 t =t +h Step 7. output t and y Step 8. end Some examples of Euler’s method appear in Section 2.7. As another example, consider the initial value problem y = 1 − t + 4y, y(0) = 1.
(5) (6)
Equation (5) is a first order linear equation, and it is easily verified that the solution satisfying the initial condition (6) is y = φ(t) = 14 t −
3 16
+
19 4t e . 16
(7)
Since the exact solution is known, we do not need numerical methods to solve the initial value problem (5), (6). On the other hand, the availability of the exact solution makes it easy to determine the accuracy of any numerical procedure that we use on this problem. We will use this problem throughout the chapter to illustrate and compare different numerical methods. The solutions of Eq. (5) diverge rather rapidly from each other, so we should expect that it will be fairly difficult to approximate the solution (7) well over any considerable interval. Indeed, this is the reason for choosing this particular problem; it will be relatively easy to observe the benefits of using more accurate methods.
421
8.1 The Euler or Tangent Line Method
EXAMPLE
1
Using the Euler formula (4) and step sizes h = 0.05, 0.025, 0.01, and 0.001, determine approximate values of the solution y = φ(t) of the problem (5), (6) on the interval 0 ≤ t ≤ 2. The indicated calculations were carried out on a computer and some of the results are shown in Table 8.1.1. Their accuracy is not particularly impressive. For h = 0.01 the percentage error is 3.85% at t = 0.5, 7.49% at t = 1.0, and 14.4% at t = 2.0. The corresponding percentage errors for h = 0.001 are 0.40%, 0.79%, and 1.58%, respectively. Observe that if h = 0.001, then it requires 2,000 steps to traverse the interval from t = 0 to t = 2. Thus considerable computation is needed to obtain even reasonably good accuracy for this problem using the Euler method. When we discuss other numerical approximation methods later in this chapter, we will find that it is possible to obtain comparable or better accuracy with much larger step sizes and many fewer computational steps. TABLE 8.1.1 A Comparison of Results for the Numerical Solution of y = 1 − t + 4y, y(0) = 1 Using the Euler Method for Different Step Sizes h t
h = 0.05
h = 0.025
h = 0.01
h = 0.001
Exact
0.0 0.1 0.2 0.3 0.4 0.5 1.0 1.5 2.0
1.0000000 1.5475000 2.3249000 3.4333560 5.0185326 7.2901870 45.588400 282.07187 1745.6662
1.0000000 1.5761188 2.4080117 3.6143837 5.3690304 7.9264062 53.807866 361.75945 2432.7878
1.0000000 1.5952901 2.4644587 3.7390345 5.6137120 8.3766865 60.037126 426.40818 3029.3279
1.0000000 1.6076289 2.5011159 3.8207130 5.7754845 8.6770692 64.382558 473.55979 3484.1608
1.0000000 1.6090418 2.5053299 3.8301388 5.7942260 8.7120041 64.897803 479.25919 3540.2001
To begin to investigate the errors in using numerical approximations and also to suggest ways to construct more accurate algorithms it is helpful to mention some alternative ways to look at the Euler method. First, let us write the differential equation (1) at the point t = tn in the form dφ (8) (t ) = f [tn , φ(tn )]. dt n Then we approximate the derivative in Eq. (8) by the corresponding (forward) difference quotient, obtaining φ(tn+1 ) − φ(tn ) ∼ = f [tn , φ(tn )]. tn+1 − tn
(9)
Finally, if we replace φ(tn+1 ) and φ(tn ) by their approximate values yn+1 and yn , respectively, and solve for yn+1 , we obtain the Euler formula (3). Another point of view is to write the problem as an integral equation, as follows. Since y = φ(t) is a solution of the initial value problem (1), (2), by integrating from tn to tn+1 we obtain t t n+1 n+1 φ (t) dt = f [t, φ(t)] dt or
tn
φ(tn+1 ) = φ(tn ) +
tn
tn+1
tn
f [t, φ(t)] dt.
(10)
422
Chapter 8. Numerical Methods
The integral in Eq. (10) is represented geometrically as the area under the curve in Figure 8.1.1 between t = tn and t = tn+1 . If we approximate the integral by replacing f [t, φ(t)] by its value f [tn , φ(tn )] at t = tn , then we are approximating the actual area by the area of the shaded rectangle. In this way we obtain −t ) φ(t ) ∼ = φ(t ) + f [t , φ(t )](t n+1
n
n
n
n+1
n
= φ(tn ) + h f [tn , φ(tn )].
(11)
Finally, to obtain an approximation yn+1 for φ(tn+1 ) we make a second approximation by replacing φ(tn ) by its approximate value yn in Eq. (11). This gives the Euler formula yn+1 = yn + h f (tn , yn ). A more accurate algorithm can be obtained by approximating the integral more accurately. This is discussed in Section 8.2. y' y' = f [t, φ (t)]
f [tn, φ (tn)]
tn
t
tn+1
FIGURE 8.1.1 Integral derivation of the Euler method.
A third approach is to assume that the solution y = φ(t) has a Taylor series about the point tn . Then φ(tn + h) = φ(tn ) + φ (tn )h + φ (tn )
h2 + ··· 2!
or h2 + ···. (12) 2! If the series is terminated after the first two terms, and φ(tn+1 ) and φ(tn ) are replaced by their approximate values yn+1 and yn , we again obtain the Euler formula (4). If more terms in the series are retained, a more accurate formula is obtained. Further, by using a Taylor series with a remainder it is possible to estimate the magnitude of the error in the formula. This is discussed later in this section. φ(tn+1 ) = φ(tn ) + f [tn , φ(tn )]h + φ (tn )
The Backward Euler Formula. A variation on the Euler formula can be obtained by approximating the derivative in Eq. (8) by the backward difference quotient [φ(tn ) − φ(tn−1 )]/ h instead of the forward difference quotient used in Eq. (9). In this way we obtain φ(t ) − φ(t ) ∼ = h f (t , y ) n
n−1
n
or yn = yn−1 + h f (tn , yn ).
n
423
8.1 The Euler or Tangent Line Method
Stepping the index up from n to n + 1, we obtain the backward Euler formula yn+1 = yn + h f (tn+1 , yn+1 ).
(13)
Assuming that yn is known and yn+1 is to be calculated, observe that Eq. (13) does not provide an explicit formula for yn+1 . Rather, it is an equation that implicitly defines yn+1 and must be solved to determine the value of yn+1 . How difficult this is depends entirely on the nature of the function f .
EXAMPLE
2
Use the backward Euler formula (13) and step sizes h = 0.05, 0.025, 0.01, and 0.001 to find approximate values of the solution of the initial value problem (5), (6) on the interval 0 ≤ t ≤ 2. For this problem the backward Euler formula (13) becomes yn+1 = yn + h(1 − tn+1 + 4yn+1 ). We will show the first two steps in detail so that it will be clear how the method works. At the first step we have y1 = y0 + h(1 − t1 + 4y1 ) = 1 + (0.05)(1 − 0.05 + 4y1 ). Solving this equation for y1 , we obtain y1 = 1.0475/0.8 = 1.309375. Observe that because the differential equation is linear, the implicit equation for y1 is also linear and therefore easy to solve. Next, y2 = y1 + h(1 − t2 + 4y2 ) = 1.309375 + (0.05)(1 − 0.1 + 4y2 ), which leads to y2 = 1.354375/0.8 = 1.69296875. Continuing the computations on a computer, we obtain the results shown in Table 8.1.2. The values given by the backward Euler method are uniformly too large for this problem, whereas the values obtained from the Euler method were too small. In this problem the errors are somewhat larger for the backward Euler method than for the Euler method, although for small values of h the differences are insignificant. Since the backward Euler method appears to be no more accurate than the Euler method, and is somewhat more complicated, a natural question is why it should even be mentioned. The answer is that it is the simplest example of a class of methods known as backward differentiation formulas that are very useful for certain types of differential equations. We will return to this issue later in this chapter.
424
Chapter 8. Numerical Methods
TABLE 8.1.2 Results for the Numerical Solution of y = 1 − t + 4y, y(0) = 1 Using the Backward Euler Method for Different Step Sizes h t
h = 0.05
h = 0.025
h = 0.01
h = 0.001
Exact
0 0.1 0.2 0.3 0.4 0.5 1.0 1.5 2.0
1.0000000 1.6929688 2.7616699 4.4174530 6.9905516 10.996956 103.06171 959.44236 8934.0696
1.0000000 1.6474374 2.6211306 4.0920886 6.3209569 9.7050002 80.402761 661.00731 5435.7294
1.0000000 1.6236638 2.5491368 3.9285724 5.9908303 9.0801473 70.452395 542.12432 4172.7228
1.0000000 1.6104634 2.5095731 3.8396379 5.8131282 8.7472667 65.419964 485.05825 3597.4478
1.0000000 1.6090418 2.5053299 3.8301388 5.7942260 8.7120041 64.897803 479.25919 3540.2001
Errors in Numerical Approximations. The use of a numerical procedure, such as the Euler formula, to solve an initial value problem raises a number of questions that must be answered before the approximate numerical solution can be accepted as satisfactory. One of these is the question of convergence. That is, as the step size h tends to zero, do the values of the numerical solution y1 , y2 , . . . , yn , . . . approach the corresponding values of the actual solution? If we assume that the answer is affirmative, there remains the important practical question of how rapidly the numerical approximation converges to the solution. In other words, how small a step size is needed in order to guarantee a given level of accuracy? We want to use a step size that is small enough to assure the required accuracy, but not too small. An unnecessarily small step size slows down the calculations, makes them more expensive, and in some cases may even cause a loss of accuracy. There are two fundamental sources of error in solving an initial value problem numerically. Let us first assume that our computer is such that we can carry out all computations with complete accuracy; that is, we can retain an infinite number of decimal places. The difference E n between the solution y = φ(t) of the initial value problem (1), (2) and its numerical approximation is given by E n = φ(tn ) − yn ,
(14)
and is known as the global truncation error. It arises from two causes: First, at each step we use an approximate formula to determine yn+1 ; second, the input data at each step are only approximately correct since in general φ(tn ) is not equal to yn . If we assume that yn = φ(tn ), then the only error in going one step is due to the use of an approximate formula. This error is known as the local truncation error en . The second fundamental source of error is that we carry out the computations in arithmetic with only a finite number of digits. This leads to a round-off error Rn defined by Rn = yn − Yn ,
(15)
where Yn is the value actually computed from the given numerical method. The absolute value of the total error in computing φ(tn ) is given by |φ(tn ) − Yn | = |φ(tn ) − yn + yn − Yn |.
(16)
425
8.1 The Euler or Tangent Line Method
Making use of the triangle inequality, |a + b| ≤ |a| + |b|, we obtain from Eq. (16) |φ(tn ) − Yn | ≤ |φ(tn ) − yn | + |yn − Yn | ≤ |E n | + |Rn |.
(17)
Thus the total error is bounded by the sum of the absolute values of the truncation and round-off errors. For the numerical procedures discussed in this book it is possible to obtain useful estimates of the truncation error. However, we limit our discussion primarily to the local truncation error, which is somewhat simpler. The round-off error is clearly more random in nature. It depends on the type of computer used, the sequence in which the computations are carried out, the method of rounding off, and so forth. While an analysis of round-off error is beyond the scope of this book, it is possible to say more about it than one might at first expect (see, for example, Henrici). Some of the dangers from round-off error are discussed in Problems 25 through 27 and in Section 8.5. Local Truncation Error for the Euler Method. Let us assume that the solution y = φ(t) of the initial value problem (1), (2) has a continuous second derivative in the interval of interest. To assure this, we can assume that f , f t , and f y are continuous. Observe that if f has these properties and if φ is a solution of the initial value problem (1), (2), then φ (t) = f [t, φ(t)], and by the chain rule φ (t) = f t [t, φ(t)] + f y [t, φ(t)]φ (t) = f t [t, φ(t)] + f y [t, φ(t)] f [t, φ(t)].
(18)
Since the right side of this equation is continuous, φ is also continuous. Then, making use of a Taylor polynomial with a remainder to expand φ about tn , we obtain φ(tn + h) = φ(tn ) + φ (tn )h + 12 φ ( t n )h 2 ,
(19)
where t n is some point in the interval tn < t n < tn + h. Subtracting Eq. (4) from Eq. (19), and noting that φ(tn + h) = φ(tn+1 ) and φ (tn ) = f [tn , φ(tn )], we find that φ(tn+1 ) − yn+1 = [φ(tn ) − yn ] + h{ f [tn , φ(tn )] − f (tn , yn )} + 12 φ ( t n )h 2 .
(20)
To compute the local truncation error we apply Eq. (20) to the true solution φ(t), that is, we take yn to be φ(tn ). Then we immediately see from Eq. (20) that the local truncation error en+1 is en+1 = φ(tn+1 ) − yn+1 = 12 φ ( t n )h 2 .
(21)
Thus the local truncation error for the Euler method is proportional to the square of the step size h and the proportionality factor depends on the second derivative of the solution φ. The expression given by Eq. (21) depends on n and, in general, is different for each step. A uniform bound, valid on an interval [a, b], is given by |en | ≤ Mh 2 /2,
(22)
where M is the maximum of |φ (t)| on the interval [a, b]. Since Eq. (22) is based on a consideration of the worst possible case, that is, the largest possible value of |φ (t)|,
426
Chapter 8. Numerical Methods
it may well be a considerable overestimate of the actual local truncation error in some parts of the interval [a, b]. One use of Eq. (22) is to choose a step size that will result in a local truncation error no greater than some given tolerance level. For example, if the local truncation error must be no greater than , then from Eq. (22) we have (23) h ≤ 2/M. The primary difficulty in using any of Eqs. (21), (22), or (23) lies in estimating |φ (t)| or M. However, the central fact expressed by these equations is that the local truncation error is proportional to h 2 . Thus, if h is reduced by a factor of 12 , then the error is reduced by 14 , and so forth. More important than the local truncation error is the global truncation error E n . The analysis for estimating E n is more difficult than that for en . However, knowing the local truncation error, we can make an intuitive estimate of the global truncation error at a fixed t > t0 as follows. Suppose that we take n steps in going from t0 to t = t0 + nh. In each step the error is at most Mh 2 /2; thus the error in n steps is at most n Mh 2 /2. Noting that n = ( t − t0 )/ h, we find that the global truncation error for the Euler method in going from t0 to t is bounded by n
Mh Mh 2 = ( t − t0 ) . 2 2
(24)
This argument is not complete since it does not take into account the effect that an error at one step will have in succeeding steps. Nevertheless, it can be shown that the global truncation error in using the Euler method on a finite interval is no greater than a constant times h; see Problem 23 for more details. The Euler method is called a first order method because its global truncation error is proportional to the first power of the step size. Because it is more accessible, we will hereafter use the local truncation error as our principal measure of the accuracy of a numerical method, and for comparing different methods. If we have a priori information about the solution of the given initial value problem, we can use the result (21) to obtain more precise information about how the local truncation error varies with t. As an example, consider the illustrative problem y = 1 − t + 4y,
y(0) = 1
(25)
on the interval 0 ≤ t ≤ 2. Let y = φ(t) be the solution of the initial value problem (25). Then, as noted previously, φ(t) = (4t − 3 + 19e4t )/16 and therefore φ (t) = 19e4t . Equation (21) then states that en+1 =
19e4t n h 2 , 2
tn < t n < tn + h.
(26)
The appearance of the factor 19 and the rapid growth of e4t explain why the results in this section with h = 0.05 were not very accurate.
427
8.1 The Euler or Tangent Line Method
For instance, the error in the first step is e1 = φ(t1 ) − y1 =
19e4t 0 (0.0025) , 2
0 < t 0 < 0.05.
It is clear that e1 is positive and, since e4t 0 < e0.2 , we have e1 ≤
19e0.2 (0.0025) ∼ = 0.02901. 2
(27)
Note also that e4t 0 > 1; hence e1 > 19(0.0025)/2 = 0.02375. The actual error is 0.02542. It follows from Eq. (26) that the error becomes progressively worse with increasing t; this is also clearly shown by the results in Table 8.1.1. Similar computations for bounds for the local truncation error give 19e4 (0.0025) ∼ 19e3.8 (0.0025) ≤ e20 ≤ = 1.2967 2 2 in going from 0.95 to 1.0 and 1.0617 ∼ =
(28)
19e8 (0.0025) ∼ 19e7.8 (0.0025) ≤ e40 ≤ (29) = 70.80 2 2 in going from 1.95 to 2.0. These results indicate that for this problem the local truncation error is about 2500 times larger near t = 2 than near t = 0. Thus, to reduce the local truncation error to an acceptable level throughout 0 ≤ t ≤ 2, one must choose a step size h based on an analysis near t = 2. Of course, this step size will be much smaller than necessary near t = 0. For example, to achieve a local truncation error of 0.01 for this problem, we need a step size of about 0.00059 near t = 2 and a step size of about 0.032 near t = 0. The use of a uniform step size that is smaller than necessary over much of the interval results in more calculations than necessary, more time consumed, and possibly more danger of unacceptable round-off errors. Another approach is to keep the local truncation error approximately constant throughout the interval by gradually reducing the step size as t increases. In the example problem we would need to reduce h by a factor of about 50 in going from t = 0 to t = 2. A method that provides for variations in the step size is called adaptive. All modern computer codes for solving differential equations have the capability of adjusting the step size as needed. We will return to this question in the next section. 57.96 ∼ =
PROBLEMS
In each of Problems 1 through 6 find approximate values of the solution of the given initial value problem at t = 0.1, 0.2, 0.3, and 0.4. (a) Use the Euler method with h = 0.05. (b) Use the Euler method with h = 0.025. (c) Use the backward Euler method with h = 0.05. (d) Use the backward Euler method with h = 0.025. √ y(0) = 1 y(0) = 2 䉴 1. y = 3 + t − y, 䉴 2. y = 5t − 3 y,
䉴 䉴
3. y = 2y − 3t, y 2 + 2t y 5. y = , 3 + t2
y(0) = 1 y(0) = 0.5
䉴
4. y = 2t + e−t y ,
䉴
6. y = (t 2 − y 2 ) sin y,
y(0) = 1 y(0) = −1
428
Chapter 8. Numerical Methods
䉴 䉴 䉴 䉴
In each of Problems 7 through 12 find approximate values of the solution of the given initial value problem at t = 0.5, 1.0, 1.5, and 2.0. (a) Use the Euler method with h = 0.025. (b) Use the Euler method with h = 0.0125. (c) Use the backward Euler method with h = 0.025. (d) Use the backward Euler method with h = 0.0125. √ 7. y = 0.5 − t + 2y, y(0) = 1 y(0) = 2 䉴 8. y = 5t − 3 y, √ −t y 9. y = t + y, y(0) = 3 y(0) = 1 䉴 10. y = 2t + e , 11. y = (4 − t y)/(1 + y 2 ), y(0) = −2 12. y = (y 2 + 2t y)/(3 + t 2 ), y(0) = 0.5
䉴 13. Complete the calculations leading to the entries in columns three and four of Table 8.1.1. 䉴 14. Complete the calculations leading to the entries in columns three and four of Table 8.1.2. 15. Using three terms in the Taylor series given in Eq. (12) and taking h = 0.1, determine approximate values of the solution of the illustrative example y = 1 − t + 4y, y(0) = 1 at t = 0.1 and 0.2. Compare the results with those using the Euler method and with the exact values. Hint: If y = f (t, y), what is y ? In each of Problems 16 and 17 estimate the local truncation error for the Euler method in terms of the solution y = φ(t). Obtain a bound for en+1 in terms of t and φ(t) that is valid on the interval 0 ≤ t ≤ 1. By using a formula for the solution obtain a more accurate error bound for en+1 . For h = 0.1 compute a bound for e1 and compare it with the actual error at t = 0.1. Also compute a bound for the error e4 in the fourth step. 16. y = 2y − 1,
17. y =
y(0) = 1
1 2
− t + 2y,
y(0) = 1
In each of Problems 18 through 21 obtain a formula for the local truncation error for the Euler method in terms of t and the solution φ. √ y(0) = 1 19. y = 5t − 3 y, y(0) = 2 18. y = t 2 + y 2 , √ y(1) = 3 21. y = 2t + e−t y , y(0) = 1 20. y = t + y,
䉴 22. Consider the initial value problem y = cos 5π t,
y(0) = 1.
(a) Determine the solution y = φ(t) and draw a graph of y = φ(t) for 0 ≤ t ≤ 1. (b) Determine approximate values of φ(t) at t = 0.2, 0.4, and 0.6 using the Euler method with h = 0.2. Draw a broken-line graph for the approximate solution and compare it with the graph of the exact solution. (c) Repeat the computation of part (b) for 0 ≤ t ≤ 0.4, but take h = 0.1. (d) Show by computing the local truncation error that neither of these step sizes is sufficiently small. Determine a value of h to ensure that the local truncation error is less than 0.05 throughout the interval 0 ≤ t ≤ 1. That such a small value of h is required results from the fact that max |φ (t)| is large. 23. In this problem we discuss the global truncation error associated with the Euler method for the initial value problem y = f (t, y), y(t0 ) = y0 . Assuming that the functions f and f y are continuous in a region R of the t y-plane that includes the point (t0 , y0 ), it can be shown that there exists a constant L such that | f (t, y) − f (t, y˜ | < L|y − y˜ |, where (t, y) and (t, y˜ ) are any two points in R with the same t coordinate (see Problem 15 of Section 2.8). Further, we assume that f t is continuous, so the solution φ has a continuous second derivative.
429
8.1 The Euler or Tangent Line Method
(a) Using Eq. (20) show that |E n+1 | ≤ |E n | + h| f [tn , φ(tn )] − f (tn , yn )| + 12 h 2 |φ ( t n )| ≤ α|E n | + βh 2 ,
(i)
where α = 1 + h L and β = max |φ (t)|/2 on t0 ≤ t ≤ tn . (b) Accepting without proof that if E 0 = 0, and if |E n | satisfies Eq. (i), then |E n | ≤ βh 2 (α n − 1)/(α − 1) for α = 1, show that |E n | ≤
(1 + h L)n − 1 βh. L
(ii)
Equation (ii) gives a bound for |E n | in terms of h, L, n, and β. Notice that for a fixed h, this error bound increases with increasing n; that is, the error bound increases with distance from the starting point t0 . (c) Show that (1 + h L)n ≤ enh L ; hence |E n | ≤
enh L − 1 e(tn −t0 )L − 1 βh = βh. L L
For a fixed point t = t0 + nh [that is, nh is constant and h = ( t − t0 )/n] this error bound is of the form of a constant times h and approaches zero as h → 0. Also note that for nh L = ( t − t0 )L small the right side of the preceding equation is approximately nh 2 β = ( t − t0 )βh, which was obtained in Eq. (24) by an intuitive argument. 24. Derive an expression analogous to Eq. (21) for the local truncation error for the backward Euler formula. Hint: Construct a suitable Taylor approximation to φ(t) about t = tn+1 . 䉴 25. Using a step size h = 0.05 and the Euler method, but retaining only three digits throughout the computations, determine approximate values of the solution at t = 0.1, 0.2, 0.3, and 0.4 for each of the following initial value problems. (a) y = 1 − t + 4y, y(0) = 1 (b) y = 3 + t − y, y(0) = 1 y(0) = 1 (c) y = 2y − 3t, Compare the results with those obtained in Example 1 and in Problems 1 and 3. The small differences between some of those results rounded to three digits and the present results are due to round-off error. The round-off error would become important if the computation required many steps. 26. The following problem illustrates a danger that occurs because of round-off error when nearly equal numbers are subtracted, and the difference then multiplied by a large number. Evaluate the quantity 6.010 1000 · 2.004
18.04 6.000
as follows. (a) First round each entry in the determinant to two digits. (b) First round each entry in the determinant to three digits. (c) Retain all four digits. Compare this value with the results in parts (a) and (b). 27. The distributive law a(b − c) = ab − ac does not hold, in general, if the products are rounded off to a smaller number of digits. To show this in a specific case take a = 0.22, b = 3.19, and c = 2.17. After each multiplication round off the last digit.
430
Chapter 8. Numerical Methods
8.2 Improvements on the Euler Method Since for many problems the Euler method requires a very small step size to produce sufficiently accurate results, much effort has been devoted to the development of more efficient methods. In the next three sections we will discuss some of these methods. Consider the initial value problem y = f (t, y),
y(t0 ) = y0
(1)
and let y = φ(t) denote its solution. Recall from Eq. (10) of Section 8.1 that by integrating the given differential equation from tn to tn+1 we obtain t n+1 f [t, φ(t)] dt. (2) φ(tn+1 ) = φ(tn ) + tn
The Euler formula yn+1 = yn + h f (tn , yn )
(3)
is obtained by replacing f [t, φ(t)] in Eq. (2) by its approximate value f (tn , yn ) at the left endpoint of the interval of integration. Improved Euler Formula. A better approximate formula can be obtained if the integrand in Eq. (2) is approximated more accurately. One way to do this is to replace the integrand by the average of its values at the two endpoints, namely, { f [tn , φ(tn )] + f [tn+1 , φ(tn+1 )]}/2. This is equivalent to approximating the area under the curve in Figure 8.2.1 between t = tn and t = tn+1 by the area of the shaded trapezoid. Further, we replace φ(tn ) and φ(tn+1 ) by their respective approximate values yn and yn+1 . In this way we obtain from Eq. (2) yn+1 = yn +
f (tn , yn ) + f (tn+1 , yn+1 ) h. 2
(4)
Since the unknown yn+1 appears as one of the arguments of f on the right side of Eq. (4), this equation defines yn+1 implicitly rather than explicitly. Depending on the nature of the function f , it may be fairly difficult to solve Eq. (4) for yn+1 . This
y'
y' = f [t, φ (t)]
f [tn+1, φ (tn+1)] f [tn, φ (tn)]
1 2
{f [tn, φ (tn)] + f [tn+1, φ (tn+1)]}
tn
tn+1
FIGURE 8.2.1 Derivation of the improved Euler method.
t
431
8.2 Improvements on the Euler Method
difficulty can be overcome by replacing yn+1 on the right side of Eq. (4) by the value obtained using the Euler formula (3). Thus f (tn , yn ) + f [tn + h, yn + h f (tn , yn )] h 2 f + f (tn + h, yn + h f n ) h, (5) = yn + n 2 where tn+1 has been replaced by tn + h. Equation (5) gives an explicit formula for computing yn+1 , the approximate value of φ(tn+1 ), in terms of the data at tn . This formula is known as the improved Euler formula or the Heun formula. The improved Euler formula is an example of a twostage method; that is, we first calculate yn + h f n from the Euler formula and then use this result to calculate yn+1 from Eq. (5). The improved Euler formula (5) does represent an improvement over the Euler formula (3) because the local truncation error in using Eq. (5) is proportional to h 3 , while for the Euler method it is proportional to h 2 . This error estimate for the improved Euler formula is established in Problem 14. It can also be shown that for a finite interval the global truncation error for the improved Euler formula is bounded by a constant times h 2 , so this method is a second order method. Note that this greater accuracy is achieved at the expense of more computational work, since it is now necessary to evaluate f (t, y) twice in order to go from tn to tn+1 . If f (t, y) depends only on t and not on y, then solving the differential equation y = f (t, y) reduces to integrating f (t). In this case the improved Euler formula (5) becomes h (6) yn+1 − yn = [ f (tn ) + f (tn + h)], 2 which is just the trapezoid rule for numerical integration. yn+1 = yn +
EXAMPLE
Use the improved Euler formula (5) to calculate approximate values of the solution of the initial value problem
1
y = 1 − t + 4y,
y(0) = 1.
(7)
To make clear exactly what computations are required, we show a couple of steps in detail. For this problem f (t, y) = 1 − t + 4y; hence and
f n = 1 − tn + 4yn f (tn + h, yn + h f n ) = 1 − (tn + h) + 4(yn + h f n ).
Further, t0 = 0, y0 = 1, and f 0 = 1 − t0 + 4y0 = 5. If h = 0.025, then f (t0 + h, y0 + h f 0 ) = 1 − 0.025 + 4[1 + (0.025)(5)] = 5.475. Then, from Eq. (5), y1 = 1 + (0.5)(5 + 5.475)(0.025) = 1.1309375. At the second step we must calculate f 1 = 1 − 0.025 + 4(1.1309375) = 5.49875, y1 + h f 1 = 1.1309375 + (0.025)(5.49875) = 1.26840625,
(8)
432
Chapter 8. Numerical Methods
and f (t2 , y1 + h f 1 ) = 1 − 0.05 + 4(1.26840625) = 6.023625. Then, from Eq. (5), y2 = 1.1309375 + (0.5)(5.49875 + 6.023625)(0.025) = 1.2749671875.
(9)
Further results for 0 ≤ t ≤ 2 obtained by using the improved Euler method with h = 0.025 and h = 0.01 are given in Table 8.2.1. To compare the results of the improved Euler method with those of the Euler method, note that the improved Euler method requires two evaluations of f at each step while the Euler method requires only one. This is significant because typically most of the computing time in each step is spent in evaluating f , so counting these evaluations is a reasonable way to estimate the total computing effort. Thus, for a given step size h, the improved Euler method requires twice as many evaluations of f as the Euler method. Alternatively, the improved Euler method for step size h requires the same number of evaluations of f as the Euler method with step size h/2.
TABLE 8.2.1 A Comparison of Results Using the Euler and Improved Euler Methods for the Initial Value Problem y = 1 − t + 4y, y(0) = 1 Euler
Improved Euler
t
h = 0.01
h = 0.001
h = 0.025
h = 0.01
0 0.1 0.2 0.3 0.4 0.5 1.0 1.5 2.0
1.0000000 1.5952901 2.4644587 3.7390345 5.6137120 8.3766865 60.037126 426.40818 3029.3279
1.0000000 1.6076289 2.5011159 3.8207130 5.7754845 8.6770692 64.82558 473.55979 3484.1608
1.0000000 1.6079462 2.5020619 3.8228282 5.7796888 8.6849039 64.497931 474.83402 3496.6702
1.0000000 1.6088585 2.5047828 3.8289146 5.7917911 8.7074637 64.830722 478.51588 3532.8789
Exact 1.0000000 1.6090418 2.5053299 3.8301388 5.7942260 8.7120041 64.897803 479.25919 3540.2001
By referring to Table 8.2.1 you can see that the improved Euler method with h = 0.025 gives much better results than the Euler method with h = 0.01. Note that to reach t = 2 with these step sizes the improved Euler method requires 160 evaluations of f while the Euler method requires 200. More noteworthy is that the improved Euler method with h = 0.025 is also slightly more accurate than the Euler method with h = 0.001 (2000 evaluations of f ). In other words, with something like one-twelfth of the computing effort, the improved Euler method yields results for this problem that are comparable to, or a bit better than, those generated by the Euler method. This illustrates that, compared to the Euler method, the improved Euler method is clearly more efficient, yielding substantially better results or requiring much less total computing effort, or both. The percentage errors at t = 2 for the improved Euler method are 1.22% for h = 0.025 and 0.21% for h = 0.01.
433
8.2 Improvements on the Euler Method
A computer program for the Euler method can be readily modified to implement the improved Euler method instead. All that is required is to replace Step 6 in the algorithm in Section 8.1 by the following: Step 6.
k1 = f (t, y) k2 = f (t + h, y + h ∗ k1) y = y + (h/2) ∗ (k1 + k2) t =t +h
Variation of Step Size. In Section 8.1 we mentioned the possibility of adjusting the step size as a calculation proceeds so as to maintain the local truncation error at a more or less constant level. The goal is to use no more steps than necessary, and at the same time to keep some control over the accuracy of the approximation. Here we will describe how this can be done. Suppose that after n steps we have reached the point (tn , yn ). We choose a step size h and calculate yn+1 . Next we need to estimate the error we have made in calculating yn+1 . In the absence of knowing the actual solution the best that we can do is to use a more accurate method and repeat the calculation starting from (tn , yn ). For example, if we used the Euler method for the original calculation, we might repeat with the improved Euler method. Then the difference between the two est of the error in using the original method. If the calculated values is an estimate en+1 estimated error is different from the error tolerance , then we adjust the step size and repeat the calculation. The key to making this adjustment efficiently is knowing how the local truncation error en+1 depends on the step size h. For the Euler method the local truncation error is proportional to h 2 , so to bring the estimated error down (or up) est . to the tolerance level we must multiply the original step size by the factor /en+1 To illustrate this procedure consider the example problem (7), y = 1 − t + 4y,
y(0) = 1.
You can verify that after one step with h = 0.1 we obtain the values 1.5 and 1.595 from the Euler method and the improved Euler method, respectively. Thus the estimated error in using the Euler method is 0.095. If we have chosen an error tolerance of 0.05, for instance, then we need to adjust the step size downward by the factor 0.05/0.095 ∼ = 0.73. Rounding downward to be conservative, let us choose the adjusted step size h = 0.07. Then, from the Euler formula we obtain y1 = 1 + (0.07) f (0, 1) = 1.35 ∼ = φ(0.07). Using the improved Euler method we obtain y1 = 1.39655, so the estimated error in using the Euler formula is 0.04655, which is slightly less than the specified tolerance. The actual error, based on a comparison with the solution itself, is somewhat greater, namely, 0.05122. The same procedure can be followed at each step of the calculation, thereby keeping the local truncation error approximately constant throughout the entire numerical process. Modern adaptive codes for solving differential equations adjust the step size as they proceed in very much this way, although they usually use more accurate formulas than the Euler and improved Euler formulas. Consequently, they are able to achieve both efficiency and accuracy by using very small steps only where they are really needed.
434
Chapter 8. Numerical Methods
PROBLEMS
In each of Problems 1 through 6 find approximate values of the solution of the given initial value problem at t = 0.1, 0.2, 0.3, and 0.4. Compare the results with those obtained by the Euler method and the backward Euler method in Section 8.1 and with the exact solution (if available). (a) Use the improved Euler method with h = 0.05. (b) Use the improved Euler method with h = 0.025. (c) Use the improved Euler method with h = 0.0125.
䉴 䉴 䉴 䉴
1. y = 3 + t − y,
y(0) = 1
3. y = 2y − 3t, y(0) = 1 y 2 + 2t y 5. y = , y(0) = 0.5 3 + t2 6. y = (t 2 − y 2 ) sin y, y(0) = −1
䉴 䉴
√ 2. y = 5t − 3 y,
4. y = 2t + e
−t y
,
y(0) = 2 y(0) = 1
In each of Problems 7 through 12 find approximate values of the solution of the given initial value problem at t = 0.5, 1.0, 1.5, and 2.0. (a) Use the improved Euler method with h = 0.025. (b) Use the improved Euler method with h = 0.0125. √ y(0) = 1 y(0) = 2 䉴 7. y = 0.5 − t + 2y, 䉴 8. y = 5t − 3 y, √ −t y 9. y = t + y, y(0) = 3 10. y = 2t + e , y(0) =1 䉴 䉴 y(0) = −2 䉴 11. y = (4 − t y)/(1 + y 2 ), 2 2 y(0) = 0.5 䉴 12. y = (y + 2t y)/(3 + t ), 13. Complete the calculations leading to the entries in columns four and five of Table 8.2.1. 䉴 14. In this problem we establish that the local truncation error for the improved Euler formula is proportional to h 3 . If we assume that the solution φ of the initial value problem y = f (t, y), y(t0 ) = y0 has derivatives that are continuous through the third order ( f has continuous second partial derivatives), it follows that φ(tn + h) = φ(tn ) + φ (tn )h +
φ (tn ) 2 φ ( t n ) 3 h + h , 2! 3!
where tn < t n < tn + h. Assume that yn = φ(tn ). (a) Show that for yn+1 as given by Eq. (5) en+1 = φ(tn+1 ) − yn+1 =
φ (tn )h − { f [tn + h, yn + h f (tn , yn )] − f (tn , yn )} h 2! φ ( t n )h 3 . + 3!
(i)
(b) Making use of the facts that φ (t) = f t [t, φ(t)] + f y [t, φ(t)]φ (t), and that the Taylor approximation with a remainder for a function F(t, y) of two variables is F(a + h, b + k) = F(a, b) + Ft (a, b)h + Fy (a, b)k +
1 2 (h Ftt + 2hk Ft y + k 2 Fyy ) x=ξ,y=η 2!
where ξ lies between a and a + h and η lies between b and b + k, show that the first term on the right side of Eq. (i) is proportional to h 3 plus higher order terms. This is the desired result.
435
8.3 The Runge–Kutta Method
(c) Show that if f (t, y) is linear in t and y, then en+1 = φ ( t n )h 3 /6, where tn < t n < tn+1 . itfontHint: What are f tt , f t y , and f yy ? 15. Consider the improved Euler method for solving the illustrative initial value problem y = 1 − t + 4y, y(0) = 1. Using the result of Problem 14(c) and the exact solution of the initial value problem, determine en+1 and a bound for the error at any step on 0 ≤ t ≤ 1. Compare this error with the one obtained in Eq. (26) of Section 8.1 using the Euler method. Also obtain a bound for e1 for h = 0.1 and compare it with Eq. (27) of Section 8.1. In each of Problems 16 and 17 use the actual solution φ(t) to determine en+1 and a bound for en+1 at any step on 0 ≤ t ≤ 1 for the improved Euler method for the given initial value problem. Also obtain a bound for e1 for h = 0.1 and compare it with the similar estimate for the Euler method and with the actual error using the improved Euler method. 16. y = 2y − 1,
y(0) = 1
17. y = 0.5 − t + 2y,
y(0) = 1
In each of Problems 18 through 21 carry out one step of the Euler method and of the improved Euler method using the step size h = 0.1. Suppose that a local truncation error no greater than 0.0025 is required. Estimate the step size that is needed for the Euler method to satisfy this requirement at the first step. √ y(0) = 1 19. y = 5t − 3 y, y(0) = 2 18. y = 0.5 − t + 2y, √ y(0) = 3 20. y = t + y, 21. y = (y 2 + 2t y)/(3 + t 2 ), y(0) = 0.5 22. The modified Euler formula for the initial value problem y = f (t, y), y(t0 ) = y0 is given by yn+1 = yn + h f [tn + 12 h, yn + 12 h f (tn , yn )]. Following the procedure outlined in Problem 14, show that the local truncation error in the modified Euler formula is proportional to h 3 . In each of Problems 23 through 26 use the modified Euler formula of Problem 22 with h = 0.05 to compute approximate values of the solution of the given initial value problem at t = 0.1, 0.2, 0.3, and 0.4. Compare the results with those obtained in Problems 1 through 4. √ y(0) = 1 y(0) = 2 䉴 23. y = 3 + t − y, 䉴 24. y = 5t − 3 y, y(0) = 1 y(0) = 1 䉴 25. y = 2y − 3t, 䉴 26. y = 2t + e−t y , 27. Show that the modified Euler formula of Problem 22 is identical to the improved Euler formula of Eq. (5) for y = f (t, y) if f is linear in both t and y.
8.3 The Runge–Kutta Method In preceding sections we have introduced the Euler formula, the backward Euler formula, and the improved Euler formula as ways to solve the initial value problem y = f (t, y),
y(t0 ) = y0
(1)
436
Chapter 8. Numerical Methods
numerically. The local truncation errors for these methods are proportional to h 2 , h 2 , and h 3 , respectively. The Euler and improved Euler methods belong to what is now called the Runge–Kutta1 class of methods. In this section we discuss the method originally developed by Runge and Kutta. This method is now called the classic fourth order four-stage Runge–Kutta method, but it is often referred to simply as the Runge–Kutta method, and we will follow this practice for brevity. This method has a local truncation error that is proportional to h 5 . Thus it is two orders of magnitude more accurate than the improved Euler method and three orders of magnitude better than the Euler method. It is relatively simple to use and is sufficiently accurate to handle many problems efficiently. This is especially true of adaptive Runge–Kutta methods in which a provision is made to vary the step size as needed. The Runge–Kutta formula involves a weighted average of values of f (t, y) at different points in the interval tn ≤ t ≤ tn+1 . It is given by yn+1 = yn + h
kn1 + 2kn2 + 2kn3 + kn4 6
,
(2)
where kn1 = f (tn , yn ) kn2 = f (tn + 12 h, yn + 12 hkn1 ), kn3 = f (tn + 12 h, yn + 12 hkn2 ), kn4 = f (tn + h, yn + hkn3 ).
(3)
The sum (kn1 + 2kn2 + 2kn3 + kn4 )/6 can be interpreted as an average slope. Note that kn1 is the slope at the left end of the interval, kn2 is the slope at the midpoint using the Euler formula to go from tn to tn + h/2, kn3 is a second approximation to the slope at the midpoint, and finally kn4 is the slope at tn + h using the Euler formula and the slope kn3 to go from tn to tn + h. While in principle it is not difficult to show that Eq. (2) differs from the Taylor expansion of the solution φ by terms that are proportional to h 5 , the algebra is rather lengthy.2 Thus we will accept the fact that the local truncation error in using Eq. (2) is proportional to h 5 and that for a finite interval the global truncation error is at most a constant times h 4 . Clearly the Runge–Kutta formula, Eqs. (2) and (3), is more complicated than any of the formulas discussed previously. This is of relatively little significance, however, since it is not hard to write a computer program to implement this method. Such a program has the same structure as the algorithm for the Euler method outlined in
1
Carl David Runge (1856 –1927), German mathematician and physicist, worked for many years in spectroscopy. The analysis of data led him to consider problems in numerical computation, and the Runge–Kutta method originated in his paper on the numerical solution of differential equations in 1895. The method was extended to systems of equations in 1901 by M. Wilhelm Kutta (1867–1944). Kutta was a German mathematician and aerodynamicist who is also well known for his important contributions to classical airfoil theory.
2
See, for example, Chapter 3 of the book by Henrici listed in the references.
437
8.3 The Runge–Kutta Method
Section 8.1. To be specific, the lines in Step 6 in the Euler algorithm must be replaced by the following: Step 6.
k1 = f (t, y) k2 = f (t + 0.5 ∗ h, y + 0.5 ∗ h ∗ k1) k3 = f (t + 0.5 ∗ h, y + 0.5 ∗ h ∗ k2) k4 = f (t + h, y + h ∗ k3) y = y + (h/6) ∗ (k1 + 2 ∗ k2 + 2 ∗ k3 + k4) t =t +h
Note that if f does not depend on y, then kn1 = f (tn ),
kn2 = kn3 = f (tn + h/2),
kn4 = f (tn + h),
(4)
and Eq. (2) reduces to h (5) [ f (tn ) + 4 f (tn + h/2) + f (tn + h)]. 6 Equation (5) can be identified as Simpson’s (1710 –1761) rule for the approximate evaluation of the integral of y = f (t). The fact that Simpson’s rule has an error proportional to h 5 is consistent with the local truncation error in the Runge–Kutta formula. yn+1 − yn =
EXAMPLE
Use the Runge–Kutta method to calculate approximate values of the solution y = φ(t) of the initial value problem
1
y = 1 − t + 4y,
y(0) = 1.
(6)
Taking h = 0.2 we have k01 k02 k03 k04
= = = =
f (0, 1) = 5; hk01 = 1.0, f (0 + 0.1, 1 + 0.5) = 6.9; hk02 = 1.38, f (0 + 0.1, 1 + 0.69) = 7.66; hk03 = 1.532, f (0 + 0.2, 1 + 1.532) = 10.928.
Thus 0.2 [5 + 2(6.9) + 2(7.66) + 10.928] 6 = 1 + 1.5016 = 2.5016.
y1 = 1 +
Further results using the Runge–Kutta method with h = 0.2, h = 0.1, and h = 0.05 are given in Table 8.3.1. Note that the Runge–Kutta method yields a value at t = 2 that differs from the exact solution by only 0.122% if the step size is h = 0.1, and by only 0.00903% if h = 0.05. In the latter case the error is less than one part in ten thousand, and the calculated value at t = 2 is correct to four digits. For comparison, note that both the Runge–Kutta method with h = 0.05 and the improved Euler method with h = 0.025 require 160 evaluations of f to reach t = 2. The improved Euler method yields a result at t = 2 that is in error by 1.22%. While this error may be acceptable for some purposes, it is more than 135 times the error yielded by the Runge–Kutta method with comparable computing effort. Note also that the Runge–Kutta method with h = 0.2, or 40 evaluations of f , produces a value at t = 2
438
Chapter 8. Numerical Methods
with an error of 1.40%, which is only slightly greater than the error in the improved Euler method with h = 0.025, or 160 evaluations of f . Thus we see again that a more accurate algorithm is more efficient; it produces better results with similar effort, or similar results with less effort. TABLE 8.3.1 A Comparison of Results for the Numerical Solution of the Initial Value Problem y = 1 − t + 4y, y(0) = 1 Improved Euler
PROBLEMS
t
h = 0.025
0 0.1 0.2 0.3 0.4 0.5 1.0 1.5 2.0
1.0000000 1.6079462 2.5020619 3.8228282 5.7796888 8.6849039 64.497931 474.83402 3496.6702
Runge–Kutta h = 0.2 1.0000000 2.5016000 5.7776358 64.441579 3490.5574
h = 0.1
h = 0.05
Exact
1.0000000 1.6089333 2.5050062 3.8294145 5.7927853 8.7093175 64.858107 478.81928 3535.8667
1.0000000 1.6090338 2.5053060 3.8300854 5.7941198 8.7118060 64.894875 479.22674 3539.8804
1.0000000 1.6090418 2.5053299 3.8301388 5.7942260 8.7120041 64.897803 479.25919 3540.2001
In each of Problems 1 through 6 find approximate values of the solution of the given initial value problem at t = 0.1, 0.2, 0.3, and 0.4. Compare the results with those obtained by using other methods and with the exact solution (if available). (a) Use the Runge–Kutta method with h = 0.1. (b) Use the Runge–Kutta method with h = 0.05. √ y(0) = 1 y(0) = 2 䉴 1. y = 3 + t − y, 䉴 2. y = 5t − 3 y, −t y y(0) = 1 y(0) = 1 䉴 3. y = 2y − 3t, 䉴 4. y = 2t + e , 2 + 2t y y , y(0) = 0.5 y(0) = −1 䉴 5. y = 䉴 6. y = (t 2 − y 2 ) sin y, 3 + t2
䉴 䉴 䉴 䉴
In each of Problems 7 through 12 find approximate values of the solution of the given initial value problem at t = 0.5, 1.0, 1.5, and 2.0. Compare the results with those given by other methods. (a) Use the Runge–Kutta method with h = 0.1. (b) Use the Runge–Kutta method with h = 0.05. √ 7. y = 0.5 − t + 2y, y(0) = 1 y(0) = 2 䉴 8. y = 5t − 3 y, √ −t y 9. y = t + y, y(0) = 3 y(0) = 1 䉴 10. y = 2t + e , 11. y = (4 − t y)/(1 + y 2 ), y(0) = −2 12. y = (y 2 + 2t y)/(3 + t 2 ), y(0) = 0.5
䉴 13. Confirm the results in Table 8.3.1 by executing the indicated computations. 䉴 14. Consider the initial value problem y = t 2 + y2, (a) Draw a direction field for this equation.
y(0) = 1.
439
8.4 Multistep Methods
(b) Use the Runge–Kutta or other methods to find approximate values of the solution at t = 0.8, 0.9, and 0.95. Choose a small enough step size so that you believe your results are accurate to at least four digits. (c) Try to extend the calculations in part (b) to obtain an accurate approximation to the solution at t = 1. If you encounter difficulties in doing this, explain why you think this happens. The direction field in part (a) may be helpful. 15. Consider the initial value problem y = 3t 2 /(3y 2 − 4),
y(0) = 0.
(a) Draw a direction field for this equation. (b) Estimate how far the solution can extended to the right. Let t M be the right endpoint of the interval of existence of this solution. What happens at t M to prevent the solution from continuing farther? (c) Use the Runge–Kutta method with various step sizes to determine an approximate value of t M . (d) If you continue the computation beyond t M , you can continue to generate values of y. What significance, if any, do these values have? (e) Suppose that the initial condition is changed to y(0) = 1. Repeat parts (b) and (c) for this problem.
8.4 Multistep Methods In previous sections we have discussed numerical procedures for solving the initial value problem y = f (t, y),
y(t0 ) = y0 ,
(1)
in which data at the point t = tn are used to calculate an approximate value of the solution φ(tn+1 ) at the next mesh point t = tn+1 . In other words, the calculated value of φ at any mesh point depends only on the data at the preceding mesh point. Such methods are called one-step methods. However, once approximate values of the solution y = φ(t) have been obtained at a few points beyond t0 , it is natural to ask whether we can make use of some of this information, rather than just the value at the last point, to calculate the value of φ(t) at the next point. Specifically, if y1 at t1 , y2 at t2 , . . . , yn at tn are known, how can we use this information to determine yn+1 at tn+1 ? Methods that use information at more than the last mesh point are referred to as multistep methods. In this section we will describe two types of multistep methods, Adams3 methods and backward differentiation formulas. Within each type one can achieve various levels of accuracy, depending on the number of preceding data points that are used. For simplicity we will assume throughout our discussion that the step size h is constant. 3
John Couch Adams (1819 –1892), English astronomer, is most famous as codiscoverer with Joseph Leverrier of the planet Neptune in 1846. Adams was also extremely skilled at computation; his procedure for numerical integration of differential equations appeared in 1883 in a book with Francis Bashforth on capillary action.
440
Chapter 8. Numerical Methods
Adams Methods.
Recall that
φ(tn+1 ) − φ(tn ) =
tn+1
φ (t) dt,
(2)
tn
where φ(t) is the solution of the initial value problem (1). The basic idea of an Adams method is to approximate φ (t) by a polynomial Pk (t) of degree k − 1 and to use the polynomial to evaluate the integral on the right side of Eq. (2). The coefficients in Pk (t) are determined by using k previously calculated data points. For example, suppose that we wish to use a first degree polynomial P2 (t) = At + B. Then we need only the two data points (tn , yn ) and (tn−1 , yn−1 ). Since P2 is to be an approximation to φ , we require that P2 (tn ) = f (tn , yn ) and that P2 (tn−1 ) = f (tn−1 , yn−1 ). Recall that we denote f (t j , yj ) by f j for an integer j. Then A and B must satisfy the equations Atn + B = f n , Atn−1 + B = f n−1 .
(3)
Solving for A and B, we obtain A=
f n − f n−1 , h
B=
f n−1 tn − f n tn−1 . h
(4)
Replacing φ (t) by P2 (t) and evaluating the integral in Eq. (2), we find that φ(tn+1 ) − φ(tn ) =
A 2 (t − tn2 ) + B(tn+1 − tn ). 2 n+1
Finally, we replace φ(tn+1 ) and φ(tn ) by yn+1 and yn , respectively, and carry out some algebraic simplification. For a constant step size h we obtain yn+1 = yn + 32 h f n − 12 h f n−1 .
(5)
Equation (5) is the second order Adams–Bashforth formula. It is an explicit formula for yn+1 in terms of yn and yn−1 and has a local truncation error proportional to h 3 . We note in passing that the first order Adams–Bashforth formula, based on the polynomial P1 (t) = f n of degree zero, is just the original Euler formula. More accurate Adams formulas can be obtained by following the procedure outlined above, but using a higher degree polynomial and correspondingly more data points. For example, suppose that a polynomial P4 (t) of degree three is used. The coefficients are determined from the four points (tn , yn ), (tn−1 , yn−1 ), (tn−2 , yn−2 ), and (tn−3 , yn−3 ). Substituting this polynomial for φ (t) in Eq. (2), evaluating the integral, and simplifying the result, we eventually obtain the fourth order Adams–Bashforth formula, namely, yn+1 = yn + (h/24)(55 f n − 59 f n−1 + 37 f n−2 − 9 f n−3 ).
(6)
The local truncation error of this fourth order formula is proportional to h 5 . A variation on the derivation of the Adams–Bashforth formulas gives another set of formulas called the Adams–Moulton4 formulas. To see the difference, let us again consider the second order case. Again we use a first degree polynomial Q 2 (t) = αt + β, 4
Forest Ray Moulton (1872–1952) was an American astronomer and administrator of science. While calculating ballistics trajectories during World War I, he devised substantial improvements in the Adams formula.
441
8.4 Multistep Methods
but we determine the coefficients by using the points (tn , yn ) and (tn+1 , yn+1 ). Thus α and β must satisfy αtn + β = f n , αtn+1 + β = f n+1 ,
(7)
and it follows that f n+1 − f n − f n+1 tn f t , β = n n+1 . h h Substituting Q 2 (t) for φ (t) in Eq. (2) and simplifying, we obtain α=
yn+1 = yn + 12 h f n + 12 h f (tn+1 , yn+1 ),
(8)
(9)
which is the second order Adams–Moulton formula. We have written f (tn+1 , yn+1 ) in the last term to emphasize that the Adams–Moulton formula is implicit, rather than explicit, since the unknown yn+1 appears on both sides of the equation. The local truncation error for the second order Adams–Moulton formula is proportional to h 3 . The first order Adams–Moulton formula is just the backward Euler formula, as you might anticipate by analogy with the first order Adams–Bashforth formula. More accurate higher order formulas can be obtained by using an approximating polynomial of higher degree. The fourth order Adams–Moulton formula, with a local truncation error proportional to h 5 , is yn+1 = yn + (h/24)(9 f n+1 + 19 f n − 5 f n−1 + f n−2 ).
(10)
Observe that this is also an implicit formula because yn+1 appears in f n+1 . Although both the Adams–Bashforth and Adams–Moulton formulas of the same order have local truncation errors proportional to the same power of h, the Adams– Moulton formulas of moderate order are in fact considerably more accurate. For example, for the fourth order formulas (6) and (10), the proportionality constant for the Adams–Moulton formula is less than 1/10 of the proportionality constant for the Adams–Bashforth formula. Thus the question arises: Should one use the explicit (and faster) Adams–Bashforth formula, or the more accurate but implicit (and slower) Adams–Moulton formula? The answer depends on whether by using the more accurate formula one can increase the step size, and therefore reduce the number of steps, enough to compensate for the additional computations required at each step. In fact, numerical analysts have attempted to achieve both simplicity and accuracy by combining the two formulas in what is called a predictor–corrector method. Once yn−3 , yn−2 , yn−1 , and yn are known, we can compute f n−3 , f n−2 , f n−1 , and f n , and then use the Adams–Bashforth (predictor) formula (6) to obtain a first value for yn+1 . Then we compute f n+1 and use the Adams–Moulton (corrector) formula (10), which is no longer implicit, to obtain an improved value of yn+1 . We can, of course, continue to use the corrector formula (10) if the change in yn+1 is too large. However, if it is necessary to use the corrector formula more than once or perhaps twice, it means that the step size h is too large and should be reduced. In order to use any of the multistep methods it is necessary first to calculate a few yj by some other method. For example, the fourth order Adams–Moulton method requires values for y1 and y2 , while the fourth order Adams–Bashforth method also requires a value for y3 . One way to proceed is to use a one-step method of comparable accuracy to calculate the necessary starting values. Thus, for a fourth order multistep method,
442
Chapter 8. Numerical Methods
one might use the fourth order Runge–Kutta method to calculate the starting values. This is the method used in the next example. Another approach is to use a low order method with a very small h to calculate y1 , and then to increase gradually both the order and the step size until enough starting values have been determined.
Consider again the initial value problem EXAMPLE
y = 1 − t + 4y,
1
y(0) = 1.
(11)
With a step size of h = 0.1 determine an approximate value of the solution y = φ(t) at t = 0.4 using the fourth order Adams–Bashforth formula, the fourth order Adams– Moulton formula, and the predictor–corrector method. For starting data we use the values of y1 , y2 , and y3 found from the Runge–Kutta method. These are tabulated in Table 8.3.1. Next, calculating the corresponding values of f (t, y), we obtain y0 y1 y2 y3
= 1, = 1.6089333, = 2.5050062, = 3.8294145,
f0 f1 f2 f3
= 5, = 7.3357332, = 10.820025, = 16.017658.
Then from the Adams–Bashforth formula, Eq. (6), we find that y4 = 5.7836305. The exact value of the solution at t = 0.4, correct through eight digits, is 5.7942260, so the error is −0.010595. The Adams–Moulton formula, Eq. (10), leads to the equation y4 = 4.9251275 + 0.15y4 , from which it follows that y4 = 5.7942676 with an error of only 0.0000416. Finally, using the result from the Adams–Bashforth formula as a predicted value of φ(0.4), we can then use Eq. (10) as a corrector. Corresponding to the predicted value of y4 we find that f 4 = 23.734522. Hence, from Eq. (10), the corrected value of y4 is 5.7926721. This result is in error by −0.0015539. Observe that the Adams–Bashforth method is the simplest and fastest of these methods, since it involves only the evaluation of a single explicit formula. It is also the least accurate. Using the Adams–Moulton formula as a corrector increases the amount of calculation that is required, but the method is still explicit. In this problem the error in the corrected value of y4 is reduced by approximately a factor of 7 when compared to the error in the predicted value. The Adams–Moulton method alone yields by far the best result, with an error that is about 1/40 as large as the error from the predictor– corrector method. Remember, however, that the Adams–Moulton method is implicit, which means that an equation must be solved at each step. In the problem considered here this equation is linear, so the solution is quickly found, but in other problems this part of the procedure may be much more time-consuming. The Runge–Kutta method with h = 0.1 gives y4 = 5.7927853 with an error of −0.0014407; see Table 8.3.1. Thus for this problem the Runge–Kutta method is comparable in accuracy to the predictor–corrector method.
443
8.4 Multistep Methods
Backward Differentiation Formulas. Another type of multistep method arises by using a polynomial Pk (t) to approximate the solution φ(t) of the initial value problem (1) rather than its derivative φ (t), as in the Adams methods. We then differentiate Pk (t) and set Pk (tn+1 ) equal to f (tn+1 , yn+1 ) to obtain an implicit formula for yn+1 . These are called backward differentiation formulas. The simplest case uses a first degree polynomial P1 (t) = At + B. The coefficients are chosen to match the computed values of the solution yn and yn+1 . Thus A and B must satisfy Atn + B = yn , Atn+1 + B = yn+1 .
(12)
Since P1 (t) = A, the requirement that P1 (tn+1 ) = f (tn+1 , yn+1 ) is just A = f (tn+1 , yn+1 ).
(13)
Another expression for A comes from subtracting the first of Eqs. (12) from the second, which gives A = (yn+1 − yn )/ h. Substituting this value of A into Eq. (13) and rearranging terms, we obtain the first order backward differentiation formula yn+1 = yn + h f (tn+1 , yn+1 ).
(14)
Note that Eq. (14) is just the backward Euler formula that we first saw in Section 8.1. By using higher order polynomials and correspondingly more data points one can obtain backward differentiation formulas of any order. The second order formula is (15) yn+1 = 13 4yn − yn−1 + 2h f (tn+1 , yn+1 ) and the fourth order formula is 1 yn+1 = 25 48yn − 36yn−1 + 16yn−2 − 3yn−3 + 12h f (tn+1 , yn+1 ) .
(16)
These formulas have local truncation errors proportional to h 3 and h 5 , respectively.
EXAMPLE
2
Use the fourth order backward differentiation formula with h = 0.1 and the data given in Example 1 to determine an approximate value of the solution y = φ(t) at t = 0.4 for the initial value problem (11). Using Eq. (16) with n = 3, h = 0.1, and with y0 , . . . , y3 given in Example 1, we obtain the equation y4 = 4.6837842 + 0.192y4 . Thus y4 = 5.7967626.
444
Chapter 8. Numerical Methods
Comparing the calculated value with the exact value φ(0.4) = 5.7942260, we find that the error is 0.0025366. This is somewhat better than the result using the Adams– Bashforth method, but not as good as the result using the predictor–corrector method, and not nearly as good as the result using the Adams–Moulton method.
A comparison between one-step and multistep methods must take several factors into consideration. The fourth order Runge–Kutta method requires four evaluations of f at each step, while the fourth order Adams–Bashforth method (once past the starting values) requires only one and the predictor–corrector method only two. Thus, for a given step size h, the latter two methods may well be considerably faster than Runge–Kutta. However, if Runge–Kutta is more accurate and therefore can use fewer steps, then the difference in speed will be reduced and perhaps eliminated. The Adams–Moulton and backward differentiation formulas also require that the difficulty in solving the implicit equation at each step be taken into account. All multistep methods have the possible disadvantage that errors in earlier steps can feed back into later calculations with unfavorable consequences. On the other hand, the underlying polynomial approximations in multistep methods make it easy to approximate the solution at points between the mesh points, should this be desirable. Multistep methods have become popular largely because it is relatively easy to estimate the error at each step and to adjust the order or the step size to control it. For a further discussion of such questions as these see the books listed at the end of the chapter; in particular, Shampine (1994) is an authoritative source.
PROBLEMS
In each of Problems 1 through 6 determine an approximate value of the solution at t = 0.4 and t = 0.5 using the specified method. For starting values use the values given by the Runge–Kutta method; see Problems 1 through 6 of Section 8.3. Compare the results of the various methods with each other and with the actual solution (if available). (a) Use the fourth order predictor–corrector method with h = 0.1. Use the corrector formula once at each step. (b) Use the fourth order Adams–Moulton method with h = 0.1. (c) Use the fourth order backward differentiation method with h = 0.1. √ y(0) = 1 y(0) = 2 䉴 1. y = 3 + t − y, 䉴 2. y = 5t − 3 y, −t y y(0) = 1 y(0) = 1 䉴 3. y = 2y − 3t, 䉴 4. y = 2t + e , 2 + 2t y y , y(0) = 0.5 y(0) = −1 䉴 5. y = 䉴 6. y = (t 2 − y 2 ) sin y, 3 + t2 In each of Problems 7 through 12 find approximate values of the solution of the given initial value problem at t = 0.5, 1.0, 1.5, and 2.0, using the specified method. For starting values use the values given by the Runge–Kutta method; see Problems 7 through 12 in Section 8.3. Compare the results of the various methods with each other and with the actual solution (if available). (a) Use the fourth order predictor–corrector method with h = 0.05. Use the corrector formula once at each step. (b) Use the fourth order Adams–Moulton method with h = 0.05. (c) Use the fourth order backward differentiation method with h = 0.05. √ y(0) = 1 y(0) = 2 䉴 7. y = 0.5 − t + 2y, 䉴 8. y = 5t − 3 y, √ −t y y(0) = 3 y(0) = 1 䉴 9. y = t + y, 䉴 10. y = 2t + e ,
445
8.5 More on Errors; Stability
y(0) = −2 䉴 11. y = (4 − t y)/(1 + y 2 ), 2 2 y(0) = 0.5 䉴 12. y = (y + 2t y)/(3 + t ), 13. Show that the first order Adams–Bashforth method is the Euler method, and that the first order Adams–Moulton method is the backward Euler method. 14. Show that the third order Adams–Bashforth formula is yn+1 = yn + (h/12)(23 f n − 16 f n−1 + 5 f n−2 ). 15. Show that the third order Adams–Moulton formula is yn+1 = yn + (h/12)(5 f n+1 + 8 f n − f n−1 ). 16. Derive the second order backward differentiation formula given by Eq. (15) in the text.
8.5 More on Errors; Stability In Section 8.1 we discussed some ideas related to the errors that can occur in a numerical solution of the initial value problem y = f (t, y),
y(t0 ) = y0 .
(1)
In this section we continue that discussion and also point out some other difficulties that can arise. Some of the points that we wish to make are fairly difficult to treat in detail, so we will illustrate them by means of examples. Truncation and Round-off Errors. Recall that for the Euler method we showed that the local truncation error is proportional to h 2 and that for a finite interval the global truncation error is at most a constant times h. In general, for a method of order p, the local truncation error is proportional to h p+1 and the global truncation error on a finite interval is bounded by a constant times h p . To achieve high accuracy we normally use a numerical procedure for which p is fairly large, perhaps four or higher. As p increases, the formula used in computing yn+1 normally becomes more complicated, and hence more calculations are required at each step; however, this is usually not a serious problem unless f (t, y) is very complicated or the calculation must be repeated very many times. If the step size h is decreased, the global truncation error is decreased by the same factor raised to the power p. However, as we mentioned in Section 8.1, if h is very small, a great many steps will be required to cover a fixed interval, and the global round-off error may be larger than the global truncation error. The situation is shown schematically in Figure 8.5.1. We assume that the round-off error Rn is proportional to the number of computations performed and therefore is inversely proportional to the step size h. On the other hand, the truncation error E n is proportional to a positive power of h. From Eq. (17) of Section 8.1 we know that the total error is bounded by |E n | + |Rn |; hence we wish to choose h so as to minimize this quantity. The optimum value of h occurs when the rate of increase of the truncation error (as h increases) is balanced by the rate of decrease of the round-off error, as indicated in Figure 8.5.1.
446
Chapter 8. Numerical Methods Error En + Rn En Rn
hopt
h
FIGURE 8.5.1 The dependence of truncation and round-off errors on the step size h.
Consider the example problem EXAMPLE
y = 1 − t + 4y,
1
y(0) = 1.
(2)
Using the Euler method with various step sizes, calculate approximate values for the solution φ(t) at t = 0.5 and t = 1. Try to determine the optimum step size. Keeping only four digits in order to shorten the calculations, we obtain the data shown in Table 8.5.1. The first two columns are the step size h and the number of steps N required to traverse the interval 0 ≤ t ≤ 1. Then y N/2 and y N are approximations to φ(0.5) = 8.712 and φ(1) = 64.90, respectively. These quantities appear in the third and fifth columns. The fourth and sixth columns display the differences between the calculated values and the actual value of the solution. TABLE 8.5.1 Approximations to the Solution of the Initial Value Problem y = 1 − t + 4y, y(0) = 1 Using the Euler Method with Different Step Sizes h
N
y N /2
Error
yN
Error
0.01 0.005 0.002 0.001 0.0008 0.000625 0.0005 0.0004 0.00025
100 200 500 1000 1250 1600 2000 2500 4000
8.390 8.551 8.633 8.656 8.636 8.616 8.772 8.507 8.231
0.322 0.161 0.079 0.056 0.076 0.096 0.060 0.205 0.481
60.12 62.51 63.75 63.94 63.78 64.35 64.00 63.40 56.77
4.78 2.39 1.15 0.96 1.12 0.55 0.90 1.50 8.13
For relatively large step sizes the round-off error is much less than the global truncation error. Consequently, the total error is approximately the same as the global truncation error, which for the Euler method is bounded by a constant times h. Thus, as the step size is reduced, the error is reduced proportionally. The first three lines in Table 8.5.1 show this type of behavior. For h = 0.001 the error has been further reduced, but much less than proportionally; this indicates that round-off error is becoming important. As h is reduced still more, the error begins to fluctuate and further improvements in
447
8.5 More on Errors; Stability
accuracy become problematical. For values of h less than 0.0005 the error is clearly increasing, which indicates that round-off error is now the dominant part of the total error. These results can also be expressed in terms of the number of steps N . For N less than about 1000 accuracy is improved by taking more steps, while for N greater than about 2000 using more steps has an adverse effect. Thus for this problem it is best to use an N somewhere between 1000 and 2000. For the calculations shown in Table 8.5.1 the best result at t = 0.5 occurs for N = 1000 while at t = 1.0 the best result is for N = 1600. One should be careful not to read too much into the results shown in Example 1. The optimum ranges for h and N depend on the differential equation, the numerical method that is used, and the number of digits that are retained in the calculation. Nevertheless, it is generally true that if too many steps are required in a calculation, then eventually round-off error is likely to accumulate to the point that it seriously degrades the accuracy of the procedure. For many problems this is not a concern: For them any of the fourth order methods we have discussed in Sections 8.3 and 8.4 will produce good results with a number of steps far less than the level at which round-off error becomes important. For some problems, however, round-off error does become vitally important. For such problems the choice of method may be crucial. This is also one reason why modern codes provide a means of adjusting the step size as they go along, using a larger step size wherever possible, and a very small step size only where necessary. Vertical Asymptotes. solution y = φ(t) of
As a second example, consider the problem of determining the y = t 2 + y2,
y(0) = 1.
(3)
Since the differential equation is nonlinear, the existence and uniqueness theorem (Theorem 2.4.2) guarantees only that there is a solution in some interval about t = 0. Suppose that we try to compute a solution of the initial value problem on the interval 0 ≤ t ≤ 1 using different numerical procedures. If we use the Euler method with h = 0.1, 0.05, and 0.01, we find the following approximate values at t = 1: 7.189548, 12.32093, and 90.75551, respectively. The large differences among the computed values are convincing evidence that we should use a more accurate numerical procedure—the Runge–Kutta method, for example. Using the Runge–Kutta method with h = 0.1 we find the approximate value 735.0991 at t = 1, which is quite different from those obtained using the Euler method. Repeating the calculations using step sizes of h = 0.05 and h = 0.01, we obtain the interesting information listed in Table 8.5.2. TABLE 8.5.2 Calculation of the Solution of the Initial Value Problem y = t 2 + y 2 , y(0) = 1 Using the Runge–Kutta Method h
t = 0.90
t = 1.0
0.1 0.05 0.01 0.001
14.02182 14.27117 14.30478 14.30486
735.0991 1.75863 × 105 2.0913 × 102893
448
Chapter 8. Numerical Methods
While the values at t = 0.90 are reasonable and we might well believe that the solution has a value of about 14.305 at t = 0.90, it is clear that something strange is happening between t = 0.9 and t = 1.0. To help determine what is happening let us turn to some analytical approximations to the solution of the initial value problem (3). Note that on 0 ≤ t ≤ 1 y2 ≤ t 2 + y2 ≤ 1 + y2.
(4)
This suggests that the solution y = φ1 (t) of y = 1 + y2,
y(0) = 1
(5)
and the solution y = φ2 (t) of y = y2,
y(0) = 1
(6)
are upper and lower bounds, respectively, for the solution y = φ(t) of the original problem, since all these solutions pass through the same initial point. Indeed, it can be shown (for example, by the iteration method of Section 2.8) that φ2 (t) ≤ φ(t) ≤ φ1 (t) as long as these functions exist. The important thing to note is that we can solve Eqs. (5) and (6) for φ1 and φ2 by separation of variables. We find that π
1 , φ2 (t) = . (7) φ1 (t) = tan t + 4 1−t Thus φ2 (t) → ∞ as t → 1, and φ1 (t) → ∞ as t → π/4 ∼ = 0.785. These calculations show that the solution of the original initial value problem exists at least for 0 ≤ t < π/4 and at most for 0 ≤ t < 1. The solution of the problem (3) has a vertical asymptote for some t in π/4 ≤ t ≤ 1 and thus does not exist on the entire interval 0 ≤ t ≤ 1. Our numerical calculations, however, suggest that we can go beyond t = π/4, and probably beyond t = 0.9. Assuming that the solution of the initial value problem exists at t = 0.9 and has the value 14.305, we can obtain a more accurate appraisal of what happens for larger t by considering the initial value problems (5) and (6) with y(0) = 1 replaced by y(0.9) = 14.305. Then we obtain φ1 (t) = tan(t + 0.60100),
φ2 (t) = 1/(0.96991 − t),
(8)
where only five decimal places have been kept. Thus φ1 (t) → ∞ as t → π/2 − 0.60100 ∼ = 0.96980 and φ2 (t) → ∞ as t → 0.96991. We conclude that the asymptote of the solution of the initial value problem (3) lies between these two values. This example illustrates the sort of information that can be obtained by a judicious combination of analytical and numerical work. Stability. The concept of stability is associated with the possibility that small errors that are introduced in the course of a mathematical procedure may die out as the procedure continues. Conversely, instability occurs if small errors tend to increase, perhaps without bound. For example, in Section 2.5 we identified equilibrium solutions of a differential equation as (asymptotically) stable or unstable, depending on whether solutions that were initially near the equilibrium solution tended to approach it or to depart from it as t increases. Somewhat more generally, the solution of an initial value problem is asymptotically stable if initially nearby solutions tend to approach the given solution, and unstable if they tend to depart from it. Visually, in an asymptotically stable problem the graphs of solutions will come together, while in an unstable problem they will separate.
449
8.5 More on Errors; Stability
If we are solving an initial value problem numerically, the best that we can hope for is that the numerical approximation will mimic the behavior of the actual solution. We cannot make an unstable problem into a stable one merely by solving it numerically. However, it may well happen that a numerical procedure will introduce instabilities that were not part of the original problem, and this can cause trouble in approximating the solution. Avoidance of such instabilities may require us to place restrictions on the step size h. To illustrate what can happen in the simplest possible context consider the differential equation dy/dt = r y,
(9)
where r is a constant. Suppose that in solving this equation we have reached the point (tn , yn ). Let us compare the exact solution of Eq. (9) that passes through this point, namely, y = yn exp[r (t − tn )],
(10)
with numerical approximations obtained from the Euler formula yn+1 = yn + h f (tn , yn )
(11)
and from the backward Euler formula yn+1 = yn + h f (tn+1 , yn+1 ).
(12)
From the Euler formula (11) we obtain yn+1 = yn + hr yn = yn (1 + r h).
(13)
Similarly, from the backward Euler formula (12) we have yn+1 = yn + hr yn+1 , or yn = yn [1 + r h + (r h)2 + · · ·]. 1 − rh Finally, evaluating the solution (10) at tn + h, we find that (r h)2 + ··· . yn+1 = yn exp(r h) = yn 1 + r h + 2 yn+1 =
(14)
(15)
Comparing Eqs. (13), (14), and (15) we see that the errors in both the Euler formula and in the backward Euler formula are of order h 2 , as the theory predicts. Now suppose that we change the value yn to yn + δ. Think, if you wish, of δ as the error that has accumulated by the time we reach t = tn . In going one more step to tn+1 , the question is whether this error increases or decreases. For the exact solution (15) the change in yn+1 due to the change δ in yn is just δ exp(r h). This quantity is less than δ if exp(r h) < 1, that is, if r < 0. This confirms our conclusion in Chapter 2 that Eq. (9) is asymptotically stable if r < 0 and unstable if r > 0. For the backward Euler method the change in yn+1 in Eq. (14) due to δ is δ/(1 − r h). For r ≤ 0 this quantity is always nonnegative and never greater than 1. Thus, if the differential equation is stable, then so is the backward Euler method for an arbitrary step size h.
450
Chapter 8. Numerical Methods
On the other hand, for the Euler method, the change in yn+1 in Eq. (13) due to δ is δ(1 + r h). If we recall that r ≤ 0 and require that |1 + r h| ≤ 1, then we find that h must satisfy h ≤ 2/|r |. Thus the Euler method is not stable for this problem unless h is sufficiently small. The restriction on the step size h in using the Euler method in the preceding example is rather mild unless |r | is quite large. Nonetheless, the example illustrates that it may be necessary to restrict h in order to achieve stability in the numerical method, even though the initial value problem itself is stable for all values of h. Problems for which a much smaller step size is needed for stability than for accuracy are called stiff. The backward differentiation formulas described in Section 8.4 (of which the backward Euler formula is the lowest order example) are the most popular formulas for solving stiff problems. The following example illustrates the kind of instabilities that can occur in trying to approximate the solution of a stiff problem.
Consider the initial value problem EXAMPLE
y = −100y + 100t + 1,
2 A Stiff Problem
y(0) = 1.
(16)
Find numerical approximations to the solution for 0 ≤ t ≤ 1 using the Euler, backward Euler, and Runge–Kutta methods. Compare the numerical results with the exact solution. Since the differential equation is linear, it is easy to solve, and the solution of the initial value problem (16) is y = φ(t) = e−100t + t.
(17)
Some values of the solution φ(t), correct to six decimal places, are given in the second column of Table 8.5.3, and a graph of the solution is shown in Figure 8.5.2. There is a thin layer (sometimes called a boundary layer) to the right of t = 0 in which the exponential term is significant and the solution varies rapidly. Once past this layer, however, φ(t) ∼ = t and the graph of the solution is essentially a straight line. The width of the boundary layer is somewhat arbitrary, but it is certainly small. At t = 0.1, for example, exp(−100t) ∼ = 0.000045. y 1 0.8 0.6 0.4 0.2
0.2
0.4
0.6
0.8
t
FIGURE 8.5.2 The solution of the initial value problem (16).
451
8.5 More on Errors; Stability
If we plan to approximate the solution (17) numerically, we might intuitively expect that a small step size will be needed only in the boundary layer. To make this expectation a bit more precise recall from Section 8.1 that the local truncation errors for the Euler and backward Euler methods are proportional to φ (t). For this problem φ (t) = 104 e−100t , which varies from a value of 104 at t = 0 to nearly zero for t > 0.2. Thus a very small step size is needed for accuracy near t = 0, but a much larger step size is adequate once t is a little larger. On the other hand, the stability analysis in Eqs. (9) through (15) also applies to this problem. Since r = −100 for Eq. (16), it follows that for stability we need h < 0.02 for the Euler method, but there is no corresponding restriction for the backward Euler method. Some results using the Euler method are shown in columns 3 and 4 of Table 8.5.3. The values obtained for h = 0.025 are worthless due to instability, while those for h = 0.01666 . . . are reasonably accurate for t ≥ 0.2. However, comparable accuracy for this range of t is obtained for h = 0.1 using the backward Euler method, as shown by the results in column 7 of the table. The situation is not improved by using instead of the Euler method a more accurate one, such as Runge–Kutta. For this problem the Runge–Kutta method is unstable for h = 0.033 . . . but stable for h = 0.025, as shown by the results in columns 5 and 6 in Table 8.5.3. The results given in the table for t = 0.05 and for t = 0.1 show that in the boundary layer a smaller step size is needed to obtain an accurate approximation. You are invited to explore this matter further in Problem 3.
TABLE 8.5.3 Numerical Approximations to the Solution of the Initial Value Problem y = −100y + 100t + 1, y(0) = 1 t 0.0 0.05 0.1 0.2 0.4 0.6 0.8 1.0
Exact
Euler 0.025
Euler 0.0166 . . .
1.000000 1.000000 1.000000 0.056738 2.300000 −0.246296 0.100045 5.162500 0.187792 0.200000 25.8289 0.207707 0.400000 657.241 0.400059 0.600000 0.600000 1.68 × 104 0.800000 4.31 × 105 0.800000 1.000000 1.000000 1.11 × 107
Runge–Kutta Runge–Kutta Backward Euler 0.0333 . . . 0.025 0.1 1.000000 10.6527 111.559 1.24 × 104 1.38 × 106 1.54 × 108 1.71 × 1010
1.000000 0.470471 0.276796 0.231257 0.400977 0.600031 0.800001 1.000000
1.000000 0.190909 0.208264 0.400068 0.600001 0.800000 1.000000
As a final example, consider the problem of determining two linearly independent solutions of the second order linear equation y − 10π 2 y = 0
(18)
for t > 0. The generalization of numerical techniques for the first order equations to higher order equations or to systems of equations is discussed in Section 8.6, but that is not needed for√ the present discussion. Two (18) are √ linearly independent solutions of Eq. √ φ1 (t) = cosh 10πt and φ2 (t) = sinh 10πt. The first solution, φ1 (t) = cosh 10πt, is generated by the initial conditions φ1 (0) = 1, φ1 (0) = 0; the second solution, φ2 (t) =
452
Chapter 8. Numerical Methods
√ √ sinh 10πt, is generated by the initial conditions φ√ = 10π. While 2 (0) = 0, φ2 (0) √ and sinh 10πt, for large analytically we√ can tell the√difference between √ √ cosh 10πt t we have cosh 10πt ∼ e 10πt /2 and sinh 10πt ∼ e 10πt/2; numerically these two functions look exactly the same if only a fixed number of digits are retained. For example, correct to eight significant figures, we find that for t = 1 sinh
√
10π = cosh
√
10π = 10,315.894.
If the calculations are carried out on a machine that carries only eight digits, the two solutions φ1 and φ2 are identical at t = 1 and indeed for all t > 1. Thus, even though the solutions are linearly independent, their numerical tabulation would show that they are the same because we can retain only a finite number of digits. This phenomenon is called numerical dependence. For the present √ partially circumvent this difficulty by computing, √ problem we can 10πt and cosh 10πt, the linearly independent solutions φ3 (t) = instead of sinh √ √ 10πt − 10πt e and φ4 (t) = e corresponding to the initial conditions φ3 (0) = 1, φ3 (0) = √ √ 10π and φ4 (0) = 1, φ4 (0) = − 10π, respectively. The solution φ3 grows exponentially while φ4 decays exponentially. Even so, we encounter difficulty in calculating φ4 correctly on a large interval. The reason is that at each step of the calculation for φ4 we introduce truncation and round-off errors. Thus at any point tn the data to be (tn ). The used in going to the next point are not precisely the values of φ4 (tn ) and φ4 √ − 10πt but solution of the initial value problem with these data at tn involves not only e √ 10πt . Because the error in the data at tn is √ small, the latter function appears with also e √ − 10πt 10πt tends to zero and e grows a very small coefficient. Nevertheless, since e very rapidly,√the latter eventually dominates, and the calculated solution is simply a multiple of e 10πt = φ3 (t). To be specific,√suppose that we use the Runge–Kutta method to calculate the solution y = φ4 (t) = e− 10πt of the initial value problem y − 10π 2 y = 0,
y(0) = 1,
√ y (0) = − 10π.
(The Runge–Kutta method for second order systems is described in Section 8.6.) Using single-precision (eight-digit) arithmetic with a step size h = 0.01, we obtain the results in Table 8.5.4. It is clearly evident from these results that the numerical solution begins to deviate significantly from the exact solution for t > 0.5, and soon differs from it by many orders of magnitude. The reason is the presence in the numerical solution of √ a small component of the exponentially growing solution φ3 (t) = e 10πt . With eight−8 at each step. Since digit √ arithmetic we can expect a round-off error of the order of 10 10πt 21 e grows by a factor of 3.7 × 10 from t = 0 to t = 5, an error of order 10−8 near t = 0 can produce an error of order 1013 at t = 5 even if no further errors are introduced in the intervening calculations. The results given in Table 8.5.4 demonstrate that this is exactly what happens. Equation (18) is highly unstable and the behavior shown in this example is typical of unstable problems. One can track a solution accurately for a while, and the interval can be extended by using smaller step sizes or more accurate methods, but eventually the instability in the problem itself takes over and leads to large errors.
453
8.5 More on Errors; Stability
TABLE 8.5.4 Exact√ Solution of y − 10π 2 y = 0, y(0) = 1, y (0) = − 10π and Numerical Solution Using the Runge–Kutta Method with h = 0.01 y t
Numerical
Exact
0.0 0.25 0.5 0.75 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0
1.0 8.3439 × 10−2 6.9631 × 10−3 5.9390 × 10−4 2.0437 × 10−4 2.2394 × 10−2 3.2166 4.6202 × 102 6.6363 × 104 9.5322 × 106 1.3692 × 109 1.9667 × 1011 2.8249 × 1013
1.0 8.3438 × 10−2 6.9620 × 10−3 5.8089 × 10−4 4.8469 × 10−5 3.3744 × 10−7 2.3492 × 10−9 1.6356 × 10−11 1.1386 × 10−13 7.9272 × 10−16 5.5189 × 10−18 3.8422 × 10−20 2.6750 × 10−22
Some Comments on Numerical Methods. In this chapter we have introduced several numerical methods for approximating the solution of an initial value problem. We have tried to emphasize some important ideas while maintaining a reasonable level of complexity. For one thing, we have always used a uniform step size, whereas production codes currently in use provide for varying the step size as the calculation proceeds. There are several considerations that must be taken into account in choosing step sizes. Of course, one is accuracy; too large a step size leads to an inaccurate result. Normally, an error tolerance is prescribed in advance and the step size at each step must be consistent with this requirement. As we have seen, the step size must also be chosen so that the method is stable. Otherwise, small errors will grow and soon render the results worthless. Finally, for implicit methods an equation must be solved at each step and the method used to solve the equation may impose additional restrictions on the step size. In choosing a method one must also balance the considerations of accuracy and stability against the amount of time required to execute each step. An implicit method, such as the Adams–Moulton method, requires more calculations for each step, but if its accuracy and stability permit a larger step size (and consequently fewer steps), then this may more than compensate for the additional calculations. The backward differentiation formulas of moderate order, say, four, are highly stable and are therefore indicated for stiff problems, for which stability is the controlling factor. Some current production codes also permit the order of the method to be varied, as well as the step size, as the calculation proceeds. The error is estimated at each step and the order and step size are chosen to satisfy the prescribed error tolerance. In practice, Adams methods up to order twelve and backward differentiation formulas up to order five are in use. Higher order backward differentiation formulas are unsuitable due to a lack of stability. Finally, we note that the smoothness of the function f , that is, the number of continuous derivatives that it possesses, is a factor in choosing the order of the method
454
Chapter 8. Numerical Methods
to be used. High order methods lose some of their accuracy if f is not smooth to a corresponding order.
PROBLEMS
1. To obtain some idea of the possible dangers of small errors in the initial conditions, such as those due to round-off, consider the initial value problem y = t + y − 3,
y(0) = 2.
(a) Show that the solution is y = φ1 (t) = 2 − t. (b) Suppose that in the initial condition a mistake is made and 2.001 is used instead of 2. Determine the solution y = φ2 (t) in this case, and compare the difference φ2 (t) − φ1 (t) at t = 1 and as t → ∞. 2. Consider the initial value problem y = t 2 + ey ,
y(0) = 0.
(i)
Using the Runge–Kutta method with step size h, we obtain the results in Table 8.5.5. These results suggest that the solution has a vertical asymptote between t = 0.9 and t = 1.0. (a) Show that for 0 ≤ t ≤ 1 the solution y = φ(t) of the problem (i) satisfies φ2 (t) ≤ φ(t) ≤ φ1 (t),
(ii)
where y = φ1 (t) is the solution of y = 1 + ey ,
y(0) = 0
(iii)
and y = φ2 (t) is the solution of y = ey ,
y(0) = 0.
(iv)
(b) Determine φ1 (t) and φ2 (t). Then show that φ(t) → ∞ for some t between t = ln 2 ∼ = 0.69315 and t = 1. (c) Solve the differential equations y = e y and y = 1 + e y , respectively, with the initial condition y(0.9) = 3.4298. Use the results to show that φ(t) → ∞ when t ∼ = 0.932. TABLE 8.5.5 Calculation of the Solution of the Initial Value Problem y = t 2 + e y , y(0) = 0 Using the Runge–Kutta Method
䉴
䉴
h
t = 0.90
t = 1.0
0.02 0.01
3.42985 3.42982
> 1038 > 1038
3. Consider again the initial value problem (16) from Example 2. Investigate how small a step size h must be chosen in order that the error at t = 0.05 and at t = 0.1 is less than 0.0005. (a) Use the Euler method. (b) Use the backward Euler method. (c) Use the Runge–Kutta method. 4. Consider the initial value problem y = −10y + 2.5t 2 + 0.5t,
y(0) = 4.
(a) Find the solution y = φ(t) and draw its graph for 0 ≤ t ≤ 5. (b) The stability analysis in the text suggests that for this problem the Euler method is stable only for h < 0.2. Confirm that this is true by applying the Euler method to this problem for 0 ≤ t ≤ 5 with step sizes near 0.2.
455
8.6 Systems of First Order Equations
(c) Apply the Runge–Kutta method to this problem for 0 ≤ t ≤ 5 with various step sizes. What can you conclude about the stability of this method? (d) Apply the backward Euler method to this problem for 0 ≤ t ≤ 5 with various step sizes. What step size is needed in order that the error at t = 5 is less than 0.01? In each of Problems 5 and 6 (a) Find a formula for the solution of the initial value problem, and note that it is independent of λ. (b) Use the Runge–Kutta method with h = 0.01 to compute approximate values of the solution for 0 ≤ t ≤ 1 for various values of λ such as λ = 1, 10, 20, and 50. (c) Explain the differences, if any, between the exact solution and the numerical approximations.
䉴
5. y − λy = 1 − λt,
y(0) = 0
䉴
6. y − λy = 2t − λt 2 ,
y(0) = 0
8.6 Systems of First Order Equations In the preceding sections we discussed numerical methods for solving initial value problems associated with a first order differential equation. These methods can also be applied to a system of first order equations. Since a higher order equation can always be reduced to a system of first order equations, it is sufficient to deal with systems of first order equations alone. For simplicity we consider a system of two first order equations x = f (t, x, y),
y = g(t, x, y),
(1)
y(t0 ) = y0 .
(2)
with the initial conditions x(t0 ) = x0 ,
The functions f and g are assumed to satisfy the conditions of Theorem 7.1.1 so that The initial value problem (1), (2) has a unique solution in some interval of the t-axis containing the point t0 . We wish to determine approximate values x1 , x2 , . . . , xn , . . . and y1 , y2 , . . . , yn , . . . of the solution x = φ(t), y = ψ(t) at the points tn = t0 + nh with n = 1, 2, . . . . In vector notation the initial value problem (1), (2) can be written as x = f(t, x),
x(t0 ) = x0 ,
(3)
where x is the vector with components x and y, f is the vector function with components f and g, and x0 is the vector with components x0 and y0 . The methods of the previous sections can be readily generalized to handle systems of two (or more) equations. All that is needed (formally) is to replace the scalar variable x by the vector x and the scalar function f by the vector function f in the appropriate equations. For example, the Euler formula becomes xn+1 = xn + hfn ,
(4)
456
Chapter 8. Numerical Methods
or, in component form, xn+1 xn f (tn , xn , yn ) . = +h g(tn , xn , yn ) yn+1 yn
(5)
The initial conditions are used to determine f0 , which is the vector tangent to the graph of the solution x = (t) in the x y-plane. We move in the direction of this tangent vector for a time step h in order to find the next point x1 . Then we calculate a new tangent vector f1 , move along it for a time step h to find x2 , and so forth. In a similar way the Runge–Kutta method can be extended to a system. For the step from tn to tn+1 we have xn+1 = xn + (h/6)(kn1 + 2kn2 + 2kn3 + kn4 ),
(6)
where kn1 = f(tn , xn ), kn2 = f [tn + (h/2), xn + (h/2)kn1 ], kn3 = f [tn + (h/2), xn + (h/2)kn2 ], kn4 = f(tn + h, xn + hkn3 ).
(7)
The formulas for the Adams–Moulton predictor–corrector method as it applies to the initial value problem (1), (2) are given in Problem 9. The vector equations (3), (4), (6), and (7) are, in fact, valid in any number of dimensions. All that is needed is to interpret the vectors as having n components rather than two.
EXAMPLE
Determine approximate values of the solution x = φ(t), y = ψ(t) of the initial value problem
1
x = x − 4y, x(0) = 1,
y = −x + y, y(0) = 0,
(8) (9)
at the point t = 0.2. Use the Euler method with h = 0.1 and the Runge–Kutta method with h = 0.2. Compare the results with the values of the exact solution: e−t − e3t e−t + e3t , ψ(t) = . (10) 2 4 Let us first use the Euler method. For this problem f n = xn − 4yn and gn = −xn + yn ; hence φ(t) =
f 0 = 1 − (4)(0) = 1,
g0 = −1 + 0 = −1.
Then, from the Euler formulas (4) and (5) we obtain x1 = 1 + (0.1)(1) = 1.1,
y1 = 0 + (0.1)(−1) = −0.1.
At the next step f 1 = 1.1 − (4)(−0.1) = 1.5,
g1 = −1.1 + (−0.1) = −1.2.
Consequently, x2 = 1.1 + (0.1)(1.5) = 1.25,
y2 = −0.1 + (0.1)(−1.2) = −0.22.
8.6 Systems of First Order Equations
457
The values of the exact solution, correct to eight digits, are φ(0.2) = 1.3204248 and ψ(0.2) = −0.25084701. Thus the values calculated from the Euler method are in error by about 0.0704 and 0.0308, respectively, corresponding to percentage errors of about 5.3% and 12.3%. Now let us use the Runge–Kutta method to approximate φ(0.2) and ψ(0.2). With h = 0.2 we obtain the following values from Eqs. (7): f (1, 0) 1 = ; k01 = g(1, 0) −1 f (1.1, −0.1) 1.5 k02 = = ; g(1.1, −0.1) −1.2 f (1.15, −0.12) 1.63 = ; k03 = g(1.15, −0.12) −1.27 f (1.326, −0.254) 2.342 = . k04 = g(1.326, −0.254) −1.580 Then, substituting these values in Eq. (6), we obtain 0.2 1 9.602 1.3200667 + = . x1 = 0 −0.25066667 6 −7.52 These values of x1 and y1 are in error by about 0.000358 and 0.000180, respectively, with percentage errors much less than one-tenth of 1%. This example again illustrates the great gains in accuracy that are obtainable by using a more accurate approximation method, such as the Runge–Kutta method. In the calculations we have just outlined, the Runge–Kutta method requires only twice as many function evaluations as the Euler method, but the error in the Runge–Kutta method is about 200 times less than the Euler method.
In each of Problems 1 through 6 determine approximate values of the solution x = φ(t), y = ψ(t) of the given initial value problem at t = 0.2, 0.4, 0.6, 0.8, and 1.0. Compare the results obtained by different methods and different step sizes. (a) Use the Euler method with h = 0.1. (b) Use the Runge–Kutta method with h = 0.2. (c) Use the Runge–Kutta method with h = 0.1.
PROBLEMS
x x x x x x
= x + y + t, y = 4x − 2y; x(0) = 1, y(0) = 0 = 2x + t y, y = x y; x(0) = 1, y(0) = 1 = −t x − y − 1, y = x; x(0) = 1, y(0) = 1 = x − y + x y, y = 3x − 2y − x y; x(0) = 0, y(0) = 1 = x(1 − 0.5x − 0.5y), y = y(−0.25 + 0.5x); x(0) = 4, y(0) = 1 = exp(−x + y) − cos x, y = sin(x − 3y); x(0) = 1, y(0) = 2
䉴 䉴 䉴 䉴 䉴 䉴
1. 2. 3. 4. 5. 6.
䉴
7. Consider the example problem x = x − 4y, y = −x + y with the initial conditions x(0) = 1 and y(0) = 0. Use the Runge–Kutta method to solve this problem on the interval 0 ≤ t ≤ 1. Start with h = 0.2 and then repeat the calculation with step sizes h = 0.1, 0.05, . . . , each half as long as in the preceding case. Continue the process until
458
Chapter 8. Numerical Methods
䉴
the first five digits of the solution at t = 1 are unchanged for successive step sizes. Determine whether these digits are accurate by comparing them with the exact solution given in Eqs. (10) in the text. 8. Consider the initial value problem x + t 2 x + 3x = t,
䉴
x(0) = 1,
x (0) = 2.
Convert this problem to a system of two first order equations and determine approximate values of the solution at t = 0.5 and t = 1.0 using the Runge–Kutta method with h = 0.1. 9. Consider the initial value problem x = f (t, x, y) and y = g(t, x, y) with x(t0 ) = x0 and y(t0 ) = y0 . The generalization of the Adams–Moulton predictor–corrector method of Section 8.4 is xn+1 = xn +
1 h(55 f n 24
− 59 f n−1 + 37 f n−2 − 9 f n−3 ),
yn+1 = yn +
1 h(55gn 24
− 59gn−1 + 37gn−2 − 9gn−3 )
and xn+1 = xn +
1 h(9 f n+1 24
+ 19 f n − 5 f n−1 + f n−2 ),
yn+1 = yn +
1 h(9gn+1 24
+ 19gn − 5gn−1 + gn−2 ).
Determine an approximate value of the solution at t = 0.4 for the example initial value problem x = x − 4y, y = −x + y with x(0) = 1, y(0) = 0. Take h = 0.1. Correct the predicted value once. For the values of x1 , . . . , y3 use the values of the exact solution rounded to six digits: x1 = 1.12883, x2 = 1.32042, x3 = 1.60021, y1 = −0.110527, y2 = −0.250847, and y3 = −0.429696.
REFERENCES
There are many books of varying degrees of sophistication dealing with numerical analysis in general and the numerical solution of ordinary differential equations in particular. Among these are:
Ascher, Uri M., and Petzold, Linda R., Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations (Philadelphia: Society for Industrial and Applied Mathematics, 1998). Gear, C. William, Numerical Initial Value Problems in Ordinary Differential Equations (Englewood Cliffs, NJ: Prentice Hall, 1971). Henrici, Peter, Discrete Variable Methods in Ordinary Differential Equations (New York: Wiley, 1962). Shampine, Lawrence F., Numerical Solution of Ordinary Differential Equations (New York: Chapman and Hall, 1994). A detailed exposition of Adams predictor–corrector methods, including practical guidelines for implementation, may be found in:
Shampine, L. F., and Gordon, M. K., Computer Solution of Ordinary Differential Equations: The Initial Value Problem (San Francisco: Freeman, 1975). Many books on numerical analysis have chapters on differential equations. For example, at an elementary level, see:
Burden, R. L., and Faires, J. D., Numerical Analysis (6th ed.) (Pacific Grove, CA: Brooks/Cole, 1997).
CHAPTER
9
Nonlinear Differential Equations and Stability There are many differential equations, especially nonlinear ones, that are not susceptible to analytical solution in any reasonably convenient manner. Numerical methods, such as those discussed in the preceding chapter, provide one means of dealing with these equations. Another approach, presented in this chapter, is geometrical in character and leads to a qualitative understanding of the behavior of solutions rather than detailed quantitative information.
9.1 The Phase Plane: Linear Systems ODE
Since many differential equations cannot be solved conveniently by analytical methods, it is important to consider what qualitative1 information can be obtained about their solutions without actually solving the equations. The questions that we consider in this chapter are associated with the idea of stability of a solution, and the methods that we employ are basically geometrical. Both the concept of stability and the use of 1
The qualitative theory of differential equations was created by Henri Poincare´ (1854 –1912) in several major papers between 1880 and 1886. Poincare´ was professor at the University of Paris and is generally considered the leading mathematician of his time. He made fundamental discoveries in several different areas of mathematics, including complex function theory, partial differential equations, and celestial mechanics. In a series of papers beginning in 1894 he initiated the use of modern methods in topology. In differential equations he was a pioneer in the use of asymptotic series, one of the most powerful tools of contemporary applied mathematics. Among other things, he used asymptotic expansions to obtain solutions about irregular singular points, thereby extending the work of Fuchs and Frobenius discussed in Chapter 5.
459
460
Chapter 9. Nonlinear Differential Equations and Stability
geometric analysis were introduced in Chapter 1 and used in Section 2.5 for first order autonomous equations dy/dt = f (y).
(1)
In this chapter we refine the ideas and extend the discussion to systems of equations. We start with a consideration of the simplest system, namely, a second order linear homogeneous system with constant coefficients. Such a system has the form dx/dt = Ax,
(2)
where A is a 2 × 2 constant matrix and x is a 2 × 1 vector. Systems of this kind were solved in Sections 7.5 through 7.8. Recall that if we seek solutions of the form x = er t , then by substitution for x in Eq. (2) we find that (A − r I) = 0.
(3)
Thus r must be an eigenvalue and a corresponding eigenvector of the coefficient matrix A. The eigenvalues are the roots of the polynomial equation det(A − r I) = 0
(4)
and the eigenvectors are determined from Eq. (3) up to an arbitrary multiplicative constant. In Section 2.5 we found that points where the right side of Eq. (1) is zero are of special importance. Such points correspond to constant solutions, or equilibrium solutions, of Eq. (1), and are often called critical points. Similarly, for the system (2), points where Ax = 0 correspond to equilibrium (constant) solutions, and again they are called critical points. We will assume that A is nonsingular, or that det A = 0. It follows that x = 0 is the only critical point of the system (2). Recall that a solution of Eq. (2) is a vector function x = (t) that satisfies the differential equation. Such a function can be viewed as a parametric representation for a curve in the x1 x2 -plane. It is often useful to regard this curve as the path, or trajectory, traversed by a moving particle whose velocity dx/dt is specified by the differential equation. The x1 x2 -plane itself is called the phase plane and a representative set of trajectories is referred to as a phase portrait. In analyzing the system (2) several different cases must be considered, depending on the nature of the eigenvalues of A. These cases also occurred in Sections 7.5 through 7.8, where we were primarily interested in finding a convenient formula for the general solution. Now our main goal is to characterize the differential equation according to the geometric pattern formed by its trajectories. In each case we discuss the behavior of the trajectories in general and illustrate it with an example. It is important that you become familiar with the types of behavior that the trajectories have for each case, because these are the basic ingredients of the qualitative theory of differential equations. CASE 1
Real Unequal Eigenvalues of the Same Sign. The general solution of Eq. (2) is x = c1 (1) er1 t + c2 (2) er2 t ,
(5)
where r1 and r2 are either both positive or both negative. Suppose first that r1 < r2 < 0, and that the eigenvectors (1) and (2) are as shown in Figure 9.1.1a. It follows from Eq. (5) that x → 0 as t → ∞ regardless of the values of c1 and c2 ; in other words, all solutions approach the critical point at the origin as t → ∞. If the solution starts at an
461
9.1 The Phase Plane: Linear Systems
initial point on the line through (1) , then c2 = 0. Consequently, the solution remains on the line through (1) for all t, and approaches the origin as t → ∞. Similarly, if the initial point is on the line through (2) , then the solution approaches the origin along that line. In the general situation, it is helpful to rewrite Eq. (5) in the form x = er2 t [c1 (1) e(r1 −r2 )t + c2 (2) ].
(6)
Observe that r1 − r2 < 0. Therefore, as long as c2 = 0, the term c1 (1) exp[(r1 − r2 )t] is negligible compared to c2 (2) for t sufficiently large. Thus, as t → ∞, the trajectory not only approaches the origin, it also tends toward the line through (2) . Hence all solutions approach the critical point tangent to (2) except for those solutions that start exactly on the line through (1) . Several trajectories are sketched in Figure 9.1.1a. Some typical graphs of x1 versus t are shown in Figure 9.1.1b, illustrating that all solutions exhibit exponential decay in time. The behavior of x2 versus t is similar. This type of critical point is called a node or a nodal sink. x1
x2 ξ(2) ξ(1)
x1 t
(a)
(b)
FIGURE 9.1.1 A node; r1 < r2 < 0. (a) The phase plane. (b) x1 versus t.
If r1 and r2 are both positive, and 0 < r2 < r1 , then the trajectories have the same pattern as in Figure 9.1.1a, but the direction of motion is away from, rather than toward, the critical point at the origin. In this case x1 and x2 grow exponentially as functions of t. Again the critical point is called a node, or (often) a nodal source. An example of a node occurs in Example 2 of Section 7.5, and its trajectories are shown in Figure 7.5.4. CASE 2
Real Eigenvalues of Opposite Sign. The general solution of Eq. (2) is x = c1 (1) er1 t + c2 (2) er2 t ,
(7)
where r1 > 0 and r2 < 0. Suppose that the eigenvectors (1) and (2) are as shown in Figure 9.1.2a. If the solution starts at an initial point on the line through (1) , then it follows that c2 = 0. Consequently, the solution remains on the line through (1) for all t, and since r1 > 0, x → ∞ as t → ∞. If the solution starts at an initial point on the line through (2) , then the situation is similar except that x → 0 as t → ∞ because r2 < 0. Solutions starting at other initial points follow trajectories such as those shown in Figure 9.1.2a. The positive exponential is the dominant term in Eq. (7) for large t, so eventually all these solutions approach infinity asymptotic to the line determined
462
Chapter 9. Nonlinear Differential Equations and Stability x2
x1
ξ(1)
ξ(2)
x1
(a)
t
(b)
FIGURE 9.1.2 A saddle point; r1 > 0, r2 < 0. (a) The phase plane. (b) x1 versus t.
by the eigenvector (1) corresponding to the positive eigenvalue r1 . The only solutions that approach the critical point at the origin are those that start precisely on the line determined by (2) . Figure 9.1.2b shows some typical graphs of x1 versus t. For certain initial conditions the positive exponential term is absent from the solution, so x1 → 0 as t → ∞. For all other initial conditions the positive exponential term eventually dominates and causes x1 to become unbounded. The behavior of x2 is similar. The origin is called a saddle point in this case. A specific example of a saddle point is in Example 1 of Section 7.5 whose trajectories are shown in Figure 7.5.2. CASE 3
Equal Eigenvalues. We now suppose that r1 = r2 = r . We consider the case in which the eigenvalues are negative; if they are positive, the trajectories are similar but the direction of motion is reversed. There are two subcases, depending on whether the repeated eigenvalue has two independent eigenvectors or only one. (a) Two independent eigenvectors. The general solution of Eq. (2) is x = c1 (1) er t + c2 (2) er t ,
(8)
where (1) and (2) are the independent eigenvectors. The ratio x2 /x1 is independent of t, but depends on the components of (1) and (2) , and on the arbitrary constants c1 and c2 . Thus every trajectory lies on a straight line through the origin, as shown in Figure 9.1.3a. Typical graphs of x1 or x2 versus t are shown in Figure 9.1.3b. The critical point is called a proper node, or sometimes a star point. (b) One independent eigenvector. As shown in Section 7.8, the general solution of Eq. (2) in this case is x = c1 er t + c2 (ter t + er t ),
(9)
where is the eigenvector and is the generalized eigenvector associated with the repeated eigenvalue. For large t the dominant term in Eq. (9) is c2 ter t . Thus, as t → ∞, every trajectory approaches the origin tangent to the line through the eigenvector. This is true even if c2 = 0, for then the solution x = c1 er t lies on this line. Similarly, for large negative t the term c2 ter t is again the dominant one, so as t → −∞, each trajectory is asymptotic to a line parallel to .
463
9.1 The Phase Plane: Linear Systems x1
x2
ξ(2)
ξ(1)
x1
(a)
t
(b)
FIGURE 9.1.3 A proper node, two independent eigenvectors; r1 = r2 < 0. (a) The phase plane. (b) x1 versus t.
The orientation of the trajectories depends on the relative positions of and . One possible situation is shown in Figure 9.1.4a. To locate the trajectories it is helpful to write the solution (9) in the form x = [(c1 + c2 ) + c2 t]er t = yer t ,
(10)
where y = (c1 + c2 ) + c2 t. Observe that the vector y determines the direction of x, whereas the scalar quantity er t affects only the magnitude of x. Also note that, for fixed values of c1 and c2 , the expression for y is a vector equation of the straight line through the point c1 + c2 and parallel to . To sketch the trajectory corresponding to a given pair of values of c1 and c2 , you can proceed in the following way. First, draw the line given by (c1 + c2 ) + c2 t and note the direction of increasing t on this line. Two such lines are shown in Figure 9.1.4a, one for c2 > 0 and the other for c2 < 0. Next, note that the given trajectory passes through the point c1 + c2 when t = 0. Further, as t increases, the direction of the vector x given by Eq. (10) follows the direction of increasing t on the line, but the magnitude of x rapidly decreases and approaches zero because of the decaying exponential factor er t . Finally, as t decreases toward −∞ the direction of x is determined by points on the corresponding part of the line and the magnitude of x approaches infinity. In this way we obtain the heavy trajectories in Figure 9.1.4a. A few other trajectories are lightly sketched as well to help complete the diagram. Typical graphs of x1 versus t are shown in Figure 9.1.4b. The other possible situation is shown in Figure 9.1.4c, where the relative orientation of and is reversed. As indicated in the figure, this results in a reversal in the orientation of the trajectories. If r1 = r2 > 0, you can sketch the trajectories by following the same procedure. In this event the trajectories are traversed in the outward direction, and the orientation of the trajectories with respect to that of and is also reversed. When a double eigenvalue has only a single independent eigenvector, the critical point is called an improper or degenerate node. A specific example of this case is Example 2 in Section 7.8; the trajectories are shown in Figure 7.8.2.
464
Chapter 9. Nonlinear Differential Equations and Stability x1
x2 c2 ξ
ξ
Increasing t
η
c2 ξ
Increasing t
c2 < 0
x1
t
c 1ξ + c2 η c2 > 0 (a)
(b) x2 Increasing t c2 ξ c2 > 0
η
ξ
c 1ξ + c2 η
c2 < 0
x1
c2 ξ
Increasing t (c)
FIGURE 9.1.4 An improper node, one independent eigenvector; r1 = r2 < 0. (a) The phase plane. (b) x1 versus t. (c) The phase plane.
CASE 4
Complex Eigenvalues. Suppose that the eigenvalues are λ ± iµ, where λ and µ are real, λ = 0, and µ > 0. It is possible to write down the general solution in terms of the eigenvalues and eigenvectors, as shown in Section 7.6. However, we proceed in a different way. Systems having the eigenvalues λ ± iµ are typified by λ µ
x (11) x = −µ λ or, in scalar form, x1 = λx1 + µx2 ,
x2 = −µx1 + λx2 .
(12)
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9.1 The Phase Plane: Linear Systems
We introduce the polar coordinates r, θ given by r 2 = x12 + x22 ,
tan θ = x2 /x1 .
By differentiating these equations we obtain rr = x1 x1 + x2 x2 ,
(sec2 θ)θ = (x1 x2 − x2 x1 )/x12 .
(13)
Substituting from Eqs. (12) in the first of Eqs. (13), we find that r = λr,
(14)
r = ceλt ,
(15)
and hence
where c is a constant. Similarly, substituting from Eqs. (12) in the second of Eqs. (13), and using the fact that sec2 θ = r 2 /x12 , we have θ = −µ.
(16)
θ = −µt + θ0 ,
(17)
Hence where θ0 is the value of θ when t = 0. Equations (15) and (17) are parametric equations in polar coordinates of the trajectories of the system (11). Since µ > 0, it follows from Eq. (17) that θ decreases as t increases, so the direction of motion on a trajectory is clockwise. As t → ∞, we see from Eq. (15) that r → 0 if λ < 0 and r → ∞ if λ > 0. Thus the trajectories are spirals, which approach or recede from the origin depending on the sign of λ. Both possibilities are shown in Figure 9.1.5, along with some typical graphs of x1 versus t. The critical point is called a spiral point in this case. Frequently, the terms spiral sink and spiral source, respectively, are used to refer to spiral points whose trajectories approach, or depart from, the critical point. More generally, it is possible to show that for any system with complex eigenvalues λ ± iµ, where λ = 0, the trajectories are always spirals. They are directed inward or outward, respectively, depending on whether λ is negative or positive. They may be elongated and skewed with respect to the coordinate axes, and the direction of motion may be either clockwise or counterclockwise. While a detailed analysis is moderately difficult, it is easy to obtain a general idea of the orientation of the trajectories directly from the differential equations. Suppose that dx/dt a b x = (18) dy/dt c d y has complex eigenvalues λ ± iµ, and look at the point (0, 1) on the positive y-axis. At this point it follows from Eqs. (18) that dx/dt = b and dy/dt = d. Depending on the signs of b and d, one can infer the direction of motion and the approximate orientation of the trajectories. For instance, if both b and d are negative, then the trajectories cross the positive y-axis so as to move down and into the second quadrant. If λ < 0 also, then the trajectories must be inward-pointing spirals resembling the one in Figure 9.1.6. Another case was given in Example 1 of Section 7.6, whose trajectories are shown in Figure 7.6.2.
466
Chapter 9. Nonlinear Differential Equations and Stability x2
x1
t x1
(a)
(b)
x2
x1
t x1
(c)
(d)
FIGURE 9.1.5 A spiral point; r1 = λ + iµ, r2 = λ − iµ. (a) λ < 0, the phase plane. (b) λ < 0, x1 versus t. (c) λ > 0, the phase plane. (d) λ > 0, x1 versus t.
x2
x1
FIGURE 9.1.6 A spiral point; r = λ ± iµ with λ < 0.
CASE 5
Pure Imaginary Eigenvalues. In this case λ = 0 and the system (11) reduces to 0 µ x (19) x = −µ 0
467
9.1 The Phase Plane: Linear Systems
with eigenvalues ±iµ. Using the same argument as in Case 4, we find that r = 0,
θ = −µ,
(20)
θ = −µt + θ0 ,
(21)
and consequently, r = c,
where c and θ0 are constants. Thus the trajectories are circles, with center at the origin, that are traversed clockwise if µ > 0 and counterclockwise if µ < 0. A complete circuit about the origin is made in a time interval of length 2π/µ, so all solutions are periodic with period 2π/µ. The critical point is called a center. In general, when the eigenvalues are pure imaginary, it is possible to show (see Problem 19) that the trajectories are ellipses centered at the origin. A typical situation is shown in Figure 9.1.7, which also shows some typical graphs of x1 versus t. x2
x1
x1
(a)
t
(b)
FIGURE 9.1.7 A center; r1 = iµ, r2 = −iµ. (a) The phase plane. (b) x1 versus t.
By reflecting on these five cases and by examining the corresponding figures, we can make several observations: 1.
2.
3.
After a long time each individual trajectory exhibits one of only three types of behavior. As t → ∞, each trajectory either approaches infinity, approaches the critical point x = 0, or repeatedly traverses a closed curve, corresponding to a periodic solution, that surrounds the critical point. Viewed as a whole, the pattern of trajectories in each case is relatively simple. To be more specific, through each point (x0 , y0 ) in the phase plane there is only one trajectory; thus the trajectories do not cross each other. Do not be misled by the figures, in which it sometimes appears that many trajectories pass through the critical point x = 0. In fact, the only solution passing through the origin is the equilibrium solution x = 0. The other solutions that appear to pass through the origin actually only approach this point as t → ∞ or t → −∞. In each case the set of all trajectories is such that one of three situations occurs. All trajectories approach the critical point x = 0 as t → ∞. This is the case if the eigenvalues are real and negative or complex with negative real part. The origin is either a nodal or a spiral sink. (b) All trajectories remain bounded but do not approach the origin as t → ∞. This is the case if the eigenvalues are pure imaginary. The origin is a center. (a)
468
Chapter 9. Nonlinear Differential Equations and Stability
(c) Some trajectories, and possibly all trajectories except x = 0, tend to infinity as t → ∞. This is the case if at least one of the eigenvalues is positive or if the eigenvalues have positive real part. The origin is either a nodal source, a spiral source, or a saddle point. The situations described in 3(a), (b), and (c) above illustrate the concepts of asymptotic stability, stability, and instability, respectively, of the equilibrium solution x = 0 of the system (2). The precise definitions of these terms are given in Section 9.2, but their basic meaning should be clear from the geometrical discussion in this section. The information that we have obtained about the system (2) is summarized in Table 9.1.1. Also see Problems 20 and 21. TABLE 9.1.1 Stability Properties of Linear Systems x = Ax with det(A − r I) = 0 and det A = 0 Eigenvalues
Type of Critical Point
Stability
r1 > r2 > 0 r1 < r2 < 0 r2 < 0 < r1 r1 = r2 > 0 r1 = r2 < 0 r1 , r2 = λ ± iµ λ>0 λ<0 r1 = iµ, r2 = −iµ
Node Node Saddle point Proper or improper node Proper or improper node Spiral point
Unstable Asymptotically stable Unstable Unstable Asymptotically stable
Center
Unstable Asymptotically stable Stable
The analysis in this section applies only to second order systems x = Ax whose solutions are represented geometrically as curves in the phase plane. A similar, though more complicated, analysis can be carried out for an nth order system, with an n × n coefficient matrix A, whose solutions are curves in an n-dimensional phase space. The cases that can occur in higher order systems are essentially combinations of those we have seen in two dimensions. For instance, in a third order system with a threedimensional phase space, one possibility is that solutions in a certain plane may spiral toward the origin, while other solutions may tend to infinity along a line transverse to this plane. This would be the case if the coefficient matrix has two complex eigenvalues with negative real part and one positive real eigenvalue. However, because of their complexity, we will not discuss systems of higher than second order.
PROBLEMS
For each of the systems in Problems 1 through 12: (a) Find the eigenvalues and eigenvectors. (b) Classify the critical point (0, 0) as to type and determine whether it is stable, asymptotically stable, or unstable. (c) Sketch several trajectories in the phase plane and also sketch some typical graphs of x1 versus t. (d) Use a computer to plot accurately the curves requested in part (c). dx dx 3 −2 5 −1 = x = x 䉴 1. 䉴 2. 2 −2 3 1 dt dt
469
9.1 The Phase Plane: Linear Systems
䉴 䉴 䉴 䉴 䉴
−1 x −2 1 −5 = x 1 −3 3 −2 x = 4 −1 3 −4 = x 1 −1 dx −1 0 11. = x 0 −1 dt dx dt dx 5. dt dx 7. dt dx 9. dt 3.
=
dx dt dx 䉴 6. dt dx 䉴 8. dt dx 䉴 10. dt
2 3
䉴
4.
= =
1 4 2 1
−4 x −7 −5 x −2
−1 x −0.25 1 2 = x −5 −1 2 − 52 dx x = 9 䉴 12. dt −1 5
=
−1 0
In each of Problems 13 through 16 determine the critical point x = x0 , and then classify its type and examine its stability by making the transformation x = x0 + u. dx dx 1 1 2 −2 1 −2 13. = x− 14. = x+ 1 −1 0 1 −2 1 dt dt dx −1 −1 −1 = x+ 15. 2 −1 5 dt dx 0 −β α = x+ ; α, β, γ , δ > 0 16. δ 0 −γ dt 17. The equation of motion of a spring–mass system with damping (see Section 3.8) is du d 2u +c + ku = 0, 2 dt dt where m, c, and k are positive. Write this second order equation as a system of two first order equations for x = u, y = du/dt. Show that x = 0, y = 0 is a critical point, and analyze the nature and stability of the critical point as a function of the parameters m, c, and k. A similar analysis can be applied to the electric circuit equation (see Section 3.8) m
L
d2 I dI 1 +R + I = 0. dt C dt 2
18. Consider the system x = Ax, and suppose that A has one zero eigenvalue. (a) Show that x = 0 is a critical point, and that, in addition, every point on a certain straight line through the origin is also a critical point. (b) Let r1 = 0 and r2 = 0, and let (1) and (2) be corresponding eigenvectors. Show that the trajectories are as indicated in Figure 9.1.8. What is the direction of motion on the trajectories? 19. In this problem we indicate how to show that the trajectories are ellipses when the eigenvalues are pure imaginary. Consider the system a12 a x x = 11 . (i) a21 a22 y y (a) Show that the eigenvalues of the coefficient matrix are pure imaginary if and only if a11 + a22 = 0,
a11 a22 − a12 a21 > 0.
(ii)
(b) The trajectories of the system (i) can be found by converting Eqs. (i) into the single equation a x + a22 y dy/dt dy = = 21 . dx d x/dt a11 x + a12 y
(iii)
470
Chapter 9. Nonlinear Differential Equations and Stability x2
ξ(1) ξ(2)
x1
FIGURE 9.1.8 Nonisolated critical points; r1 = 0, r2 = 0. Every point on the line through (1) is a critical point.
Use the first of Eqs. (ii) to show that Eq. (iii) is exact. (c) By integrating Eq. (iii) show that a21 x 2 + 2a22 x y − a12 y 2 = k,
(iv)
where k is a constant. Use Eqs. (ii) to conclude that the graph of Eq. (iv) is always an ellipse. Hint: What is the discriminant of the quadratic form in Eq. (iv)? 20. Consider the linear system d x/dt = a11 x + a12 y,
dy/dt = a21 x + a22 y,
where a11 , . . . , a22 are real constants. Let p = a11 + a22 , q = a11 a22 − a12 a21 , and = p2 − 4q. Show that the critical point (0, 0) is a (a) Node if q > 0 and ≥ 0; (b) Saddle point if q < 0; (c) Spiral point if p = 0 and < 0; (d) Center if p = 0 and q > 0. Hint: These conclusions can be obtained by studying the eigenvalues r1 and r2 . It may also be helpful to establish, and then to use, the relations r1 r2 = q and r1 + r2 = p. 21. Continuing Problem 20, show that the critical point (0, 0) is (a) Asymptotically stable if q > 0 and p < 0; (b) Stable if q > 0 and p = 0; (c) Unstable if q < 0 or p > 0. Notice that results (a), (b), and (c), together with the fact that q = 0, show that the critical point is asymptotically stable if, and only if, q > 0 and p < 0. The results of Problems 20 and 21 are summarized visually in Figure 9.1.9.
471
9.2 Autonomous Systems and Stability q
p
ro p
pr op
∆ = p2 – 4q < 0 er
no
de
ri m
m
Asymp. stable node
∆ = p2 – 4q = 0
er
i or er op Pr
no de s
Unstable, spiral point Asymp. stable, spiral point Stable center
P
s
p ro
er
o
Unstable node
Unstable, saddle point
p
∆ = p2 – 4q > 0
FIGURE 9.1.9 Stability diagram.
9.2 Autonomous Systems and Stability ODE
In this section we begin to draw together and to expand on the geometrical ideas introduced in Section 2.5 for certain first order equations and in Section 9.1 for second order linear homogeneous systems with constant coefficients. These ideas concern the qualitative study of differential equations and the concept of stability, an idea that will be defined precisely later in this section.
ODE
Autonomous Systems. We are concerned with systems of two simultaneous differential equations of the form dx/dt = F(x, y),
ODE
dy/dt = G(x, y).
(1)
We assume that the functions F and G are continuous and have continuous partial derivatives in some domain D of the x y-plane. If (x0 , y0 ) is a point in this domain, then by Theorem 7.1.1 there exists a unique solution x = φ(t), y = ψ(t) of the system (1) satisfying the initial conditions x(t0 ) = x0 ,
y(t0 ) = y0 .
(2)
The solution is defined in some time interval I that contains the point t0 . Frequently, we will write the initial value problem (1), (2) in the vector form dx/dt = f(x),
x(t0 ) = x0 ,
(3)
where x = xi + yj, f(x) = F(x, y)i + G(x, y)j, and x0 = x0 i + y0 j. In this case the solution is expressed as x = (t), where (t) = φ(t)i + ψ(t)j. As usual, we interpret a solution x = (t) as a curve traced by a moving point in the x y-plane, the phase plane.
472
Chapter 9. Nonlinear Differential Equations and Stability
Observe that the functions F and G in Eqs. (1) do not depend on the independent variable t, but only on the dependent variables x and y. A system with this property is said to be autonomous. The system x = Ax,
(4)
where A is a constant matrix, is a simple example of a two-dimensional autonomous system. On the other hand, if one or more of the elements of the coefficient matrix A is a function of the independent variable t, then the system is nonautonomous. The distinction between autonomous and nonautonomous systems is important because the geometric qualitative analysis in Section 9.1 can be effectively extended to two-dimensional autonomous systems in general, but is not nearly as useful for nonautonomous systems. In particular, the autonomous system (1) has an associated direction field that is independent of time. Consequently, there is only one trajectory passing through each point (x0 , y0 ) in the phase plane. In other words, all solutions that satisfy an initial condition of the form (2) lie on the same trajectory, regardless of the time t0 at which they pass through (x0 , y0 ). Thus, just as for the constant coefficient linear system (4), a single phase portrait simultaneously displays important qualitative information about all solutions of the system (1). We will see this fact confirmed repeatedly in this chapter. Autonomous systems occur frequently in applications. Physically, an autonomous system is one whose configuration, including physical parameters and external forces or effects, is independent of time. The response of the system to given initial conditions is then independent of the time at which the conditions are imposed. Stability and Instability. The concepts of stability, asymptotic stability, and instability have already been mentioned several times in this book. It is now time to give a precise mathematical definition of these concepts, at least for autonomous systems of the form x = f(x).
(5)
In the following definitions, and elsewhere, we use the notation x to designate the length, or magnitude, of the vector x. The points, if any, where f(x) = 0 are called critical points of the autonomous system (5). At such points x = 0 also, so critical points correspond to constant, or equilibrium, solutions of the system of differential equations. A critical point x0 of the system (5) is said to be stable if, given any > 0, there is a δ > 0 such that every solution x = (t) of the system (1), which at t = 0 satisfies (0) − x0 < δ,
(6)
exists for all positive t and satisfies (t) − x0 <
(7)
for all t ≥ 0. This is illustrated geometrically in Figures 9.2.1a and 9.2.1b. These mathematical statements say that all solutions that start “sufficiently close” (that is, within the distance δ) to x0 stay “close” (within the distance ) to x0 . Note that in Figure 9.2.1a the trajectory is within the circle x − x0 = δ at t = 0 and, while it soon passes outside of this circle, it remains within the circle x − x0 = for all t ≥ 0. However, the trajectory of the solution does not have to approach the critical point x0 as t → ∞, as illustrated in Figure 9.2.1b. A critical point that is not stable is said to be unstable.
473
9.2 Autonomous Systems and Stability y
y
δ
(φ (0), ψ (0))
δ
(φ (0), ψ (0))
x (a)
x (b)
FIGURE 9.2.1 (a) Asymptotic stability. (b) Stability.
A critical point x0 is said to be asymptotically stable if it is stable and if there exists a δ0 , with 0 < δ0 < δ, such that if a solution x = (t) satisfies (0) − x0 < δ0 ,
(8)
lim (t) = x0 .
(9)
then t→∞
Thus trajectories that start “sufficiently close” to x0 must not only stay “close” but must eventually approach x0 as t → ∞. This is the case for the trajectory in Figure 9.2.1a but not for the one in Figure 9.2.1b. Note that asymptotic stability is a stronger property than stability, since a critical point must be stable before we can even talk about whether it might be asymptotically stable. On the other hand, the limit condition (9), which is an essential feature of asymptotic stability, does not by itself imply even ordinary stability. Indeed, examples can be constructed in which all of the trajectories approach x0 as t → ∞, but for which x0 is not a stable critical point. Geometrically, all that is needed is a family of trajectories having members that start arbitrarily close to x0 , then depart an arbitrarily large distance before eventually approaching x0 as t → ∞. While we specified originally that the system (5) is of second order, the definitions just given are independent of the order of the system. If you interpret the vectors in Eqs. (5) through (9) as n-dimensional, then the definitions of stability, asymptotic stability, and instability apply also to nth order systems. These definitions can be made more concrete by interpreting them in terms of a specific physical problem. The Oscillating Pendulum. The concepts of asymptotic stability, stability, and instability can be easily visualized in terms of an oscillating pendulum. Consider the configuration shown in Figure 9.2.2, in which a mass m is attached to one end of a rigid, but weightless, rod of length L. The other end of the rod is supported at the origin O, and the rod is free to rotate in the plane of the paper. The position of the pendulum is described by the angle θ between the rod and the downward vertical direction, with the counterclockwise direction taken as positive. The gravitational force mg acts downward, while the damping force c|dθ/dt|, where c is positive, is always opposite to the direction of motion. We assume that θ and dθ/dt are both positive. The equation of motion can be quickly derived from the principle of angular momentum,
474
Chapter 9. Nonlinear Differential Equations and Stability O
θ L c dθ /dt m L(1 – cos θ ) L sin θ mg
FIGURE 9.2.2 An oscillating pendulum.
which states that the time rate of change of angular momentum about any point is equal to the moment of the resultant force about that point. The angular momentum about the origin is m L 2 (dθ/dt), so the governing equation is d 2θ dθ − mgL sin θ. (10) = −cL dt dt 2 The factors L and L sin θ on the right side of Eq. (10) are the moment arms of the resistive force and of the gravitational force, respectively, while the minus signs are due to the fact that the two forces tend to make the pendulum rotate in the clockwise (negative) direction. You should verify, as an exercise, that the same equation is obtained for the other three possible sign combinations of θ and dθ/dt. By straightforward algebraic operations we can write Eq. (10) in the standard form m L2
c dθ g d 2θ + + sin θ = 0, 2 m L dt L dt
(11)
dθ d 2θ +γ + ω2 sin θ = 0, 2 dt dt
(12)
or
where γ = c/m L and ω2 = g/L. To convert Eq. (12) to a system of two first order equations we let x = θ and y = dθ/dt; then dx = y, dt
dy = −ω2 sin x − γ y. dt
(13)
Since γ and ω2 are constants, the system (13) is an autonomous system of the form (1). The critical points of Eqs. (13) are found by solving the equations y = 0,
−ω2 sin x − γ y = 0.
We obtain y = 0 and x = ±nπ, where n is an integer. These points correspond to two physical equilibrium positions, one with the mass directly below the point of support (θ = 0) and the other with the mass directly above the point of support (θ = π). Our intuition suggests that the first is stable and the second is unstable.
475
9.2 Autonomous Systems and Stability
More precisely, if the mass is slightly displaced from the lower equilibrium position, it will oscillate back and forth with gradually decreasing amplitude, eventually approaching the equilibrium position as the initial potential energy is dissipated by the damping force. This type of motion illustrates asymptotic stability. On the other hand, if the mass is slightly displaced from the upper equilibrium position, it will rapidly fall, under the influence of gravity, and will ultimately approach the lower equilibrium position in this case also. This type of motion illustrates instability. In practice, it is impossible to maintain the pendulum in its upward equilibrium position for any length of time without an external constraint mechanism since the slightest perturbation will cause the mass to fall. Finally, consider the ideal situation in which the damping coefficient c (or γ ) is zero. In this case, if the mass is displaced slightly from its lower equilibrium position, it will oscillate indefinitely with constant amplitude about the equilibrium position. Since there is no dissipation in the system, the mass will remain near the equilibrium position, but will not approach it asymptotically. This type of motion is stable, but not asymptotically stable. In general, this motion is impossible to achieve experimentally because the slightest degree of air resistance or friction at the point of support will eventually cause the pendulum to approach its rest position. These three types of motion are illustrated schematically in Figure 9.2.3. Solutions of the pendulum equations are discussed in more detail in the next section.
(a)
(b)
(c)
FIGURE 9.2.3 Qualitative motion of a pendulum. (a) With air resistance. (b) With or without air resistance. (c) Without air resistance.
Determination of Trajectories The trajectories of a two-dimensional autonomous system can sometimes be found by solving a related first order differential equation. From Eqs. (1) we have dy/dt G(x, y) dy = = , dx dx/dt F(x, y)
(14)
which is a first order equation in the variables x and y. Observe that such a reduction is not usually possible if F and G depend also on t. If Eq. (14) can be solved by any of the methods of Chapter 2, and if we write solutions (implicitly) in the form H (x, y) = c,
(15)
then Eq. (15) is an equation for the trajectories of the system (14). In other words, the trajectories lie on the level curves of H (x, y). Keep in mind that there is no general
476
Chapter 9. Nonlinear Differential Equations and Stability
way of solving Eq. (14) to obtain the function H , so this approach is applicable only in special cases.
Find the trajectories of the system EXAMPLE
dx/dt = y,
1
dy/dt = x.
(16)
In this case, Eq. (14) becomes x dy = . dx y
(17)
This equation is separable since it can be written as y dy = x dx, and its solutions are given by H (x, y) = y 2 − x 2 = c,
(18)
where c is arbitrary. Therefore the trajectories of the system (16) are the hyperbolas shown in Figure 9.2.4. The direction of motion on the trajectories can be inferred from the fact that both dx/dt and dy/dt are positive in the first quadrant. The only critical point is the saddle point at the origin. Another way to obtain the trajectories is to solve the system (16) by the methods of Section 7.5. We omit the details, but the result is x = c1 et + c2 e−t ,
y = c1 et − c2 e−t .
Eliminating t between these two equations again leads to Eq. (18).
y 2
1
–2
–1
0
1
–1
–2
FIGURE 9.2.4 Trajectories of the system (16).
2
x
477
9.2 Autonomous Systems and Stability
Find the trajectories of the system EXAMPLE
dy = 12 − 3x 2 . dt
dx = 4 − 2y, dt
2
(19)
From the equations 4 − 2y = 0,
12 − 3x 2 = 0
we find that the critical points of the system (19) are the points (−2, 2) and (2, 2). To determine the trajectories note that for this system Eq. (14) becomes 12 − 3x 2 dy = . (20) dx 4 − 2y Separating the variables in Eq. (20) and integrating, we find that solutions satisfy H (x, y) = 4y − y 2 − 12x + x 3 = c,
(21)
where c is an arbitrary constant. A computer plotting routine is helpful in displaying the level curves of H (x, y), some of which are shown in Figure 9.2.5. The direction of motion on the trajectories can be determined by drawing a direction field for the system (19), or by evaluating dx/dt and dy/dt at one or two selected points. From Figure 9.2.5 you can see that the critical point (2, 2) is a saddle point while the point (−2, 2) is a center. Observe that one trajectory leaves the saddle point (at t = −∞), loops around the center, and returns to the saddle point (at t = +∞). y 8 6 4 2 –4
–2
2
4 x
–2 –4
FIGURE 9.2.5 Trajectories of the system (19).
PROBLEMS
In each of Problems 1 through 4 sketch the trajectory corresponding to the solution satisfying the specified initial conditions, and indicate the direction of motion for increasing t. 1. 2. 3. 4.
d x/dt d x/dt d x/dt d x/dt
= −x, dy/dt = −2y; x(0) = 4, y(0) = 2 = −x, dy/dt = 2y; x(0) = 4, y(0) = 2 and x(0) = 4, y(0) = 0 = −y, dy/dt = x; x(0) = 4, y(0) = 0 and x(0) √ = 0, y(0) = 4 = ay, dy/dt = −bx, a > 0, b > 0; x(0) = a, y(0) = 0
478
Chapter 9. Nonlinear Differential Equations and Stability
For each of the systems in Problems 5 through 14: (a) Find all the critical points (equilibrium solutions). (b) Use a computer to draw a direction field and phase portrait for the system. (c) From the plot(s) in part (b) determine whether each critical point is asymptotically stable, stable, or unstable, and classify it as to type.
䉴 䉴 䉴 䉴 䉴 䉴 䉴 䉴 䉴 䉴
5. 6. 7. 8. 9. 10. 11. 12. 13. 14.
d x/dt = x − x y, dy/dt = y + 2x y d x/dt = 1 + 2y, dy/dt = 1 − 3x 2 d x/dt = x − x 2 − x y, dy/dt = 12 y − 14 y 2 − 34 x y d x/dt = −(x − y)(1 − x − y), dy/dt = x(2 + y) d x/dt = y(2 − x − y), dy/dt = −x − y − 2x y d x/dt = (2 + x)(y − x), dy/dt = y(2 + x − x 2 ) d x/dt = −x + 2x y, dy/dt = y − x 2 − y 2 d x/dt = y, dy/dt = x − 16 x 3 − 15 y d x/dt = (2 + x)(y − x), dy/dt = (4 − x)(y + x) The van der Pol equation: d x/dt = y, dy/dt = (1 − x 2 )y − x
In each of Problems 15 through 22: (a) Find an equation of the form H (x, y) = c satisfied by the trajectories. (b) Plot several level curves of the function H . These are trajectories of the given system. Indicate the direction of motion on each trajectory.
䉴 䉴 䉴 䉴 䉴 䉴
15. 17. 19. 20. 21. 22.
d x/dt = 2y, dy/dt = 8x 䉴 16. d x/dt = 2y, dy/dt = −8x d x/dt = y, dy/dt = 2x + y 䉴 18. d x/dt = −x + y, dy/dt = −x − y d x/dt = −x + y + x 2 , dy/dt = y − 2x y d x/dt = 2x 2 y − 3x 2 − 4y, dy/dt = −2x y 2 + 6x y Undamped pendulum: d x/dt = y, dy/dt = − sin x Duffing’s equation: d x/dt = y, dy/dt = −x + (x 3/6)
23. Given that x = φ(t), y = ψ(t) is a solution of the autonomous system d x/dt = F(x, y),
dy/dt = G(x, y)
for α < t < β, show that x = (t) = φ(t − s), y = (t) = ψ(t − s) is a solution for α + s < t < β + s for any real number s. 24. Prove that for the system d x/dt = F(x, y),
dy/dt = G(x, y)
there is at most one trajectory passing through a given point (x0 , y0 ). Hint: Let C0 be the trajectory generated by the solution x = φ0 (t), y = ψ0 (t), with φ0 (t0 ) = x0 , ψ0 (t0 ) = y0 , and let C1 be the trajectory generated by the solution x = φ1 (t), y = ψ1 (t), with φ1 (t1 ) = x0 , ψ1 (t1 ) = y0 . Use the fact that the system is autonomous and also the existence and uniqueness theorem to show that C0 and C1 are the same. 25. Prove that if a trajectory starts at a noncritical point of the system d x/dt = F(x, y),
dy/dt = G(x, y),
then it cannot reach a critical point (x0 , y0 ) in a finite length of time. Hint: Assume the contrary; that is, assume that the solution x = φ(t), y = ψ(t) satisfies φ(a) = x0 , ψ(a) = y0 . Then use the fact that x = x0 , y = y0 is a solution of the given system satisfying the initial condition x = x0 , y = y0 at t = a. 26. Assuming that the trajectory corresponding to a solution x = φ(t), y = ψ(t), −∞ < t < ∞, of an autonomous system is closed, show that the solution is periodic.
479
9.3 Almost Linear Systems
Hint: Since the trajectory is closed, there exists at least one point (x0 , y0 ) such that φ(t0 ) = x0 , ψ(t0 ) = y0 and a number T > 0 such that φ(t0 + T ) = x0 , ψ(t0 + T ) = y0 . Show that x = (t) = φ(t + T ) and y = (t) = ψ(t + T ) is a solution and then use the existence and uniqueness theorem to show that (t) = φ(t) and (t) = ψ(t) for all t.
9.3 Almost Linear Systems ODE
ODE
Theorem 9.3.1
In Section 9.1 we gave an informal description of the stability properties of the equilibrium solution x = 0 of the two-dimensional linear system x = Ax.
(1)
The results are summarized in Table 9.1.1. Recall that we required that det A = 0, so that x = 0 is the only critical point of the system (1). Now that we have defined the concepts of asymptotic stability, stability, and instability more precisely, we can restate these results in the following theorem. The critical point x = 0 of the linear system (1) is asymptotically stable if the eigenvalues r1 , r2 are real and negative or have negative real part; stable, but not asymptotically stable, if r1 and r2 are pure imaginary; unstable if r1 and r2 are real and either is positive, or if they have positive real part. It is apparent from this theorem or from Table 9.1.1 that the eigenvalues r1 , r2 of the coefficient matrix A determine the type of critical point at x = 0 and its stability characteristics. In turn, the values of r1 and r2 depend on the coefficients in the system (1). When such a system arises in some applied field, the coefficients usually result from the measurements of certain physical quantities. Such measurements are often subject to small uncertainties, so it is of interest to investigate whether small changes (perturbations) in the coefficients can affect the stability or instability of a critical point and/or significantly alter the pattern of trajectories. Recall that the eigenvalues r1 , r2 are the roots of the polynomial equation det(A − r I) = 0.
(2)
It is possible to show that small perturbations in some or all the coefficients are reflected in small perturbations in the eigenvalues. The most sensitive situation occurs when r1 = iµ and r2 = −iµ, that is, when the critical point is a center and the trajectories are closed curves surrounding it. If a slight change is made in the coefficients, then the eigenvalues r1 and r2 will take on new values r1 = λ + iµ and r2 = λ − iµ , where λ is small in magnitude and µ ∼ = µ (see Figure 9.3.1). If λ = 0, which almost always occurs, then the trajectories of the perturbed system are spirals, rather than closed curves. The system is asymptotically stable if λ < 0, but unstable if λ > 0. Thus, in the case of a center, small perturbations in the coefficients may well change a stable system into an unstable one, and in any case may be expected to alter radically the pattern of trajectories in the phase plane (see Problem 25).
480
Chapter 9. Nonlinear Differential Equations and Stability µ
µ
r1' = λ' + iµ ' r1 = iµ
r1 = iµ
r1' = λ' + iµ ' λ
r2 = –iµ
λ
r2' = λ' – iµ '
r2 = –iµ
r2' = λ' – i µ'
FIGURE 9.3.1 Schematic perturbation of r1 = iµ, r2 = −iµ.
Another slightly less sensitive case occurs if the eigenvalues r1 and r2 are equal; in this case the critical point is a node. Small perturbations in the coefficients will normally cause the two equal roots to separate (bifurcate). If the separated roots are real, then the critical point of the perturbed system remains a node, but if the separated roots are complex conjugates, then the critical point becomes a spiral point. These two possibilities are shown schematically in Figure 9.3.2. In this case the stability or instability of the system is not affected by small perturbations in the coefficients, but the trajectories may be altered considerably (see Problem 26). In all other cases the stability or instability of the system is not changed, nor is the type of critical point altered, by sufficiently small perturbations in the coefficients of the system. For example, if r1 and r2 are real, negative, and unequal, then a small change in the coefficients will not change the sign of r1 and r2 nor allow them to coalesce. Thus the critical point remains an asymptotically stable node. Now let us consider a nonlinear two-dimensional autonomous system x = f(x).
(3)
Our main object is to investigate the behavior of trajectories of the system (3) near a critical point x0 . We will seek to do this by approximating the nonlinear system (3) by an appropriate linear system, whose trajectories are easy to describe. The crucial question is whether the trajectories of the linear system are good approximations to those of the nonlinear system. Of course, we also need to know how to find the approximating linear system. It is convenient to choose the critical point to be the origin. This involves no loss of generality, since if x0 = 0, it is always possible to make the substitution u = x − x0 in Eq. (3). Then u will satisfy an autonomous system with a critical point at the origin.
µ
µ r 1' = λ + iµ
r1 = r 2 r 1'
r 2'
λ
r1 = r 2
λ r 2' = λ – i µ
FIGURE 9.3.2 Schematic perturbation of r1 = r2 .
481
9.3 Almost Linear Systems
First, let us consider what it means for a nonlinear system (3) to be “close” to a linear system (1). Accordingly, suppose that x = Ax + g(x),
(4)
and that x = 0 is an isolated critical point of the system (4). This means that there is some circle about the origin within which there are no other critical points. In addition, we assume that det A = 0, so that x = 0 is also an isolated critical point of the linear system x = Ax. For the nonlinear system (4) to be close to the linear system x = Ax we must assume that g(x) is small. More precisely, we assume that the components of g have continuous first partial derivatives and satisfy the limit condition g(x)/x → 0
as x → 0;
(5)
that is, g is small in comparison to x itself near the origin. Such a system is called an almost linear system in the neighborhood of the critical point x = 0. It may be helpful to express the condition (5) in scalar form. If we let xT = (x, y), then x = (x 2 + y 2 )1/2 = r. Similarly, if gT (x) = (g1 (x, y), g2 (x, y)), then g(x) = [g12 (x, y) + g22 (x, y)]1/2 . Then it follows that condition (5) is satisfied if and only if g1 (x, y)/r → 0,
EXAMPLE
1
g2 (x, y)/r → 0
as r → 0.
Determine whether the system 1 0 x −x 2 − x y x = + 0 0.5 y y −0.75x y − 0.25y 2
(6)
(7)
is almost linear in the neighborhood of the origin. Observe that the system (7) is of the form (4), that (0, 0) is a critical point, and that det A = 0. It is not hard to show that the other critical points of Eqs. (7) are (0, 2), (1, 0), and (0.5, 0.5); consequently, the origin is an isolated critical point. In checking the condition (6) it is convenient to introduce polar coordinates by letting x = r cos θ, y = r sin θ. Then g1 (x, y) −x 2 − x y −r 2 cos2 θ − r 2 sin θ cos θ = = r r r = −r (cos2 θ + sin θ cos θ) → 0 as r → 0. In a similar way you can show that g2 (x, y)/r → 0 as r → 0. Hence the system (7) is almost linear near the origin.
The motion of a pendulum is described by the system [see Eq. (13) of Section 9.2] EXAMPLE
2
dx = y, dt
dy = −ω2 sin x − γ y. dt
(8)
The critical points are (0, 0), (±π, 0), (±2π, 0), . . . , so the origin is an isolated critical point of this system. Show that the system is almost linear near the origin.
482
Chapter 9. Nonlinear Differential Equations and Stability
To compare Eqs. (8) with Eq. (4) we must rewrite the former so that the linear and nonlinear terms are clearly identified. If we write sin x = x + (sin x − x) and substitute this expression in the second of Eqs. (8), we obtain the equivalent system 0 1 0 x x 2 = . (9) −ω sin x − x y y −ω2 −γ On comparing Eq. (9) with Eq. (4) we see that g1 (x, y) = 0 and g2 (x, y) = −ω2 (sin x − x). From the Taylor series for sin x we know that sin x − x behaves like −x 3 /3! = −(r 3 cos3 θ)/3! when x is small. Consequently, (sin x − x)/r → 0 as r → 0. Thus the conditions (6) are satisfied and the system (9) is almost linear near the origin.
Let us now return to the general nonlinear system (3), which we write in the scalar form x = F(x, y),
y = G(x, y).
(10)
The system (10) is almost linear in the neighborhood of a critical point (x0 , y0 ) whenever the functions F and G have continuous partial derivatives up to order two. To show this, use Taylor expansions about the point (x0 , y0 ) to write F(x, y) and G(x, y) in the form F(x, y) = F(x0 , y0 ) + Fx (x0 , y0 )(x − x0 ) + Fy (x0 , y0 )(y − y0 ) + η1 (x, y), G(x, y) = G(x0 , y0 ) + G x (x0 , y0 )(x − x0 ) + G y (x0 , y0 )(y − y0 ) + η2 (x, y), where η1 (x, y)/[(x − x0 )2 + (y − y0 )2 ]1/2 → 0 as (x, y) → (x0 , y0 ), and similarly for η2 . Note that F(x0 , y0 ) = G(x0 , y0 ) = 0, and that dx/dt = d(x − x0 )/dt and dy/dt = d(y − y0 )/dt. Then the system (10) reduces to Fx (x0 , y0 ) Fy (x0 , y0 ) d x − x0 x − x0 η1 (x, y) = + , (11) G x (x0 , y0 ) G y (x0 , y0 ) η2 (x, y) y − y0 dt y − y0 or, in vector notation, df 0 du = (x )u + (x), dt dx
(12)
where u = (x − x0 , y − y0 )T and = (η1 , η2 )T . The significance of this result is twofold. First, if the functions F and G are twice differentiable, then the system (10) is almost linear and it is unnecessary to resort to the limiting process used in Examples 1 and 2. Second, the linear system that approximates the nonlinear system (10) near (x0 , y0 ) is given by the linear part of Eqs. (11) or (12), namely, Fx (x0 , y0 ) Fy (x0 , y0 ) d u1 u1 = , (13) u2 G x (x0 , y0 ) G y (x0 , y0 ) dt u 2 where u 1 = x − x0 and u 2 = y − y0 . Equation (13) provides a simple and general method for finding the linear system corresponding to an almost linear system near a given critical point.
483
9.3 Almost Linear Systems
EXAMPLE
3
Use Eq. (13) to find the linear system corresponding to the pendulum equations (8) near the origin; near the critical point (π, 0). In this case F(x, y) = y,
G(x, y) = −ω2 sin x − γ y;
(14)
since these functions are differentiable as many times as necessary, the system (8) is almost linear near each critical point. The derivatives of F and G are Fx = 0,
Fy = 1,
G x = −ω2 cos x,
G y = −γ .
Thus, at the origin the corresponding linear system is d x 0 1 x , = y −ω2 −γ dt y which agrees with Eq. (9). Similarly, evaluating the partial derivatives in Eq. (15) at (π, 0), we obtain d u u 0 1 , = v ω2 −γ dt v
(15)
(16)
(17)
where u = x − π, v = y. This is the linear system corresponding to Eqs. (8) near the point (π, 0). We now return to the almost linear system (4). Since the nonlinear term g(x) is small compared to the linear term Ax when x is small, it is reasonable to hope that the trajectories of the linear system (1) are good approximations to those of the nonlinear system (4), at least near the origin. This turns out to be true in many (but not all) cases, as the following theorem states.
Theorem 9.3.2
Let r1 and r2 be the eigenvalues of the linear system (1) corresponding to the almost linear system (4). Then the type and stability of the critical point (0, 0) of the linear system (1) and the almost linear system (4) are as shown in Table 9.3.1. At this stage, the proof of Theorem 9.3.2 is too difficult to give, so we will accept the results without proof. The statements for asymptotic stability and instability follow as a consequence of a result discussed in Section 9.6, and a proof is sketched in Problems 10 to 12 of that section. Essentially, Theorem 9.3.2 says that for small x (or x − x0 ) the nonlinear terms are also small and do not affect the stability and type of critical point as determined by the linear terms except in two sensitive cases: r1 and r2 pure imaginary, and r1 and r2 real and equal. Recall that earlier in this section we stated that small perturbations in the coefficients of the linear system (1), and hence in the eigenvalues r1 and r2 , can alter the type and stability of the critical point only in these two sensitive cases. It is reasonable to expect that the small nonlinear term in Eq. (4) might have a similar substantial effect, at least in these two sensitive cases. This is so, but the main significance of Theorem 9.3.2 is that in all other cases the small nonlinear term does not alter the type or stability of the critical point. Thus, except in the two sensitive cases, the type and stability of the critical point of the nonlinear system (4) can be determined from a study of the much simpler linear system (1).
484
Chapter 9. Nonlinear Differential Equations and Stability
TABLE 9.3.1 Stability and Instability Properties of Linear and Almost Linear Systems Linear System r1 , r2
Type
r1 > r2 > 0 r1 < r2 < 0
N N
r2 < 0 < r1 r1 = r2 > 0 r1 = r2 < 0
SP PN or IN PN or IN
r1 , r2 = λ ± iµ λ>0 λ<0
SpP SpP
r1 = iµ, r2 = −iµ
C
Almost Linear System
Stability Unstable Asymptotically stable Unstable Unstable Asymptotically stable Unstable Asymptotically stable Stable
Type N N SP N or SpP N or SpP
SpP SpP C or SpP
Stability Unstable Asymptotically stable Unstable Unstable Asymptotically stable Unstable Asymptotically stable Indeterminate
Note: N, node; IN, improper node; PN, proper node; SP, saddle point; SpP, spiral point; C, center.
Even if the critical point is of the same type as that of the linear system, the trajectories of the almost linear system may be considerably different in appearance from those of the corresponding linear system, except very near the critical point. However, it can be shown that the slopes at which trajectories “enter” or “leave” the critical point are given correctly by the linear equation. Damped Pendulum. We continue the discussion of the damped pendulum begun in Examples 2 and 3. Near the origin the nonlinear equations (8) are approximated by the linear system (16), whose eigenvalues are −γ ± γ 2 − 4ω2 . (18) r1 , r2 = 2 The nature of the solutions of Eqs. (8) and (16) depends on the sign of γ 2 − 4ω2 as follows. 1.
2.
3.
If γ 2 − 4ω2 > 0, then the eigenvalues are real, unequal, and negative. The critical point (0, 0) is an asymptotically stable node of the linear system (16) and of the almost linear system (8). If γ 2 − 4ω2 = 0, then the eigenvalues are real, equal, and negative. The critical point (0, 0) is an asymptotically stable (proper or improper) node of the linear system (16). It may be either an asymptotically stable node or spiral point of the almost linear system (8). If γ 2 − 4ω2 < 0, then the eigenvalues are complex with negative real part. The critical point (0, 0) is an asymptotically stable spiral point of the linear system (16) and of the almost linear system (8).
Thus the critical point (0, 0) is a spiral point of the system (8) if the damping is small and a node if the damping is large enough. In either case, the origin is asymptotically stable.
485
9.3 Almost Linear Systems
Let us now consider the case γ 2 − 4ω2 < 0, corresponding to small damping, in more detail. The direction of motion on the spirals near (0, 0) can be obtained directly from Eqs. (8). Consider the point at which a spiral intersects the positive y-axis (x = 0 and y > 0). At such a point it follows from Eqs. (8) that dx/dt > 0. Thus the point (x, y) on the trajectory is moving to the right, so the direction of motion on the spirals is clockwise. The behavior of the pendulum near the critical points (±nπ, 0), with n even, is the same as its behavior near the origin. We expect this on physical grounds since all these critical points correspond to the downward equilibrium position of the pendulum. The conclusion can be confirmed by repeating the analysis carried out above for the origin. Figure 9.3.3 shows the clockwise spirals at a few of these critical points. Now let us consider the critical point (π, 0). Here the nonlinear equations (8) are approximated by the linear system (17), whose eigenvalues are −γ ± γ 2 + 4ω2 . (19) r1 , r2 = 2 One eigenvalue (r1 ) is positive and the other (r2 ) is negative. Therefore, regardless of the amount of damping, the critical point x = π, y = 0 is an unstable saddle point of both the linear system (17) and of the almost linear system (8). To examine the behavior of trajectories near the saddle point (π, 0) in more detail we write down the general solution of Eqs. (17), namely, 1 r1 t 1 r2 t u (20) e + C2 e , = C1 r1 r2 v where C1 and C2 are arbitrary constants. Since r1 > 0 and r2 < 0, it follows that the solution that approaches zero as t → ∞ corresponds to C1 = 0. For this solution v/u = r2 , so the slope of the entering trajectories is negative; one lies in the second quadrant (C2 < 0) and the other lies in the fourth quadrant (C2 > 0). For C2 = 0 we obtain the pair of trajectories “exiting” from the saddle point. These trajectories have slope r1 > 0; one lies in the first quadrant (C1 > 0) and the other lies in the third quadrant (C1 < 0). The situation is the same at other critical points (nπ, 0) with n odd. These all correspond to the upward equilibrium position of the pendulum, so we expect them to be unstable. The analysis at (π, 0) can be repeated to show that they are saddle points oriented in the same way as the one at (π, 0). Diagrams of the trajectories in the neighborhood of two saddle points are shown in Figure 9.3.4.
y
–π –2π
π
x
2π
FIGURE 9.3.3 Asymptotically stable spiral points for the damped pendulum.
486
Chapter 9. Nonlinear Differential Equations and Stability y
π
–π
x
FIGURE 9.3.4 Unstable saddle points for the damped pendulum.
The equations of motion of a certain pendulum are EXAMPLE
dx/dt = y,
4
dy/dt = −9 sin x − 15 y,
(21)
where x = θ and y = dθ/dt. Draw a phase portrait for this system and explain how it shows the possible motions of the pendulum. By plotting the trajectories starting at various initial points in the phase plane we obtain the phase portrait shown in Figure 9.3.5. As we have seen, the critical points (equilibrium solutions) are the points (nπ, 0), where n = 0, ±1, ±2, . . . . Even values of n, including zero, correspond to the downward position of the pendulum, while odd values of n correspond to the upward position. Near each of the asymptotically stable critical points the trajectories are clockwise spirals that represent a decaying oscillation about the downward equilibrium position. The wavy horizontal portions of the trajectories that occur for larger values of |y| represent whirling motions of the pendulum. Note that a whirling motion cannot continue indefinitely, no matter how large |y| is; eventually the angular velocity is so much reduced by the damping term that the pendulum can no longer go over the top, and instead begins to oscillate about its downward position.
y
10 5
–8
–6
–4
–2
2
4
6
8
x
–5 –10
FIGURE 9.3.5 Phase portrait for the damped pendulum of Example 4.
487
9.3 Almost Linear Systems
The trajectories that enter the saddle points separate the phase plane into regions. Such a trajectory is called a separatrix. Each region contains exactly one of the asymptotically stable spiral points. The initial conditions on θ and dθ/dt determine the position of an initial point (x, y) in the phase plane. The subsequent motion of the pendulum is represented by the trajectory passing through the initial point as it spirals toward the asymptotically stable critical point in that region. The set of all initial points from which trajectories approach a given asymptotically stable critical point is called the basin of attraction or the region of asymptotic stability for that critical point. Each asymptotically stable critical point has its own basin of attraction, which is bounded by the separatrices through the neighboring unstable saddle points. The basin of attraction for the origin is shown in blue in Figure 9.3.5. Note that it is mathematically possible (but physically unrealizable) to choose initial conditions on a separatrix so that the resulting motion leads to a balanced pendulum in a vertically upward position of unstable equilibrium. An important difference between nonlinear autonomous systems and the linear systems discussed in Section 9.1 is illustrated by the pendulum equations. Recall that the linear system (1) has only the single critical point x = 0 if det A = 0. Thus, if the origin is asymptotically stable, then not only do trajectories that start close to the origin approach it, but, in fact, every trajectory approaches the origin. In this case the critical point x = 0 is said to be globally asymptotically stable. This property of linear systems is not, in general, true for nonlinear systems. For nonlinear systems an important question is to determine (or to estimate) the basin of attraction for each asymptotically stable critical point.
PROBLEMS
In each of Problems 1 through 4, verify that (0, 0) is a critical point, show that the system is almost linear, and discuss the type and stability of the critical point (0, 0) by examining the corresponding linear system. 1. 2. 3. 4.
d x/dt d x/dt d x/dt d x/dt
dy/dt = x − 2y + x 2 = x − y2, = −x + y + 2x y, dy/dt = −4x − y + x 2 − y 2 = (1 + x) sin y, dy/dt = 1 − x − cos y = x + y2, dy/dt = x + y
In each of Problems 5 through 16: (a) Determine all critical points of the given system of equations. (b) Find the corresponding linear system near each critical point. (c) Find the eigenvalues of each linear system. What conclusions can you then draw about the nonlinear system? (d) Draw a phase portrait of the nonlinear system to confirm your conclusions, or to extend them in those cases where the linear system does not provide definite information about the nonlinear system.
䉴 5. d x/dt 䉴 6. d x/dt 䉴 7. d x/dt 䉴 8. d x/dt 䉴 9. d x/dt 䉴 10. d x/dt 䉴 11. d x/dt
= (2 + x)(y − x), dy/dt = (4 − x)(y + x) 2 = x − x − x y, dy/dt = 3y − x y − 2y 2 = 1 − y, dy/dt = x 2 − y 2 2 = x − x − x y, dy/dt = 12 y − 14 y 2 − 34 x y = −(x − y)(1 − x − y), dy/dt = x(2 + y) 2 2 =x+x +y , dy/dt = y − x y = 2x + y + x y 3 , dy/dt = x − 2y − x y
488
Chapter 9. Nonlinear Differential Equations and Stability
䉴 䉴 䉴 䉴
12. 13. 15. 16. 17.
d x/dt = (1 + x) sin y, dy/dt = 1 − x − cos y d x/dt = x − y 2 , dy/dt = y − x 2 䉴 14. d x/dt = 1 − x y, d x/dt = −2x − y − x(x 2 + y 2 ), dy/dt = x − y + y(x 2 + y 2 ) d x/dt = y + x(1 − x 2 − y 2 ), dy/dt = −x + y(1 − x 2 − y 2 ) Consider the autonomous system d x/dt = y,
dy/dt = x − y 3
dy/dt = x + 2x 3 .
(a) Show that the critical point (0, 0) is a saddle point. (b) Sketch the trajectories for the corresponding linear system by integrating the equation for dy/d x. Show from the parametric form of the solution that the only trajectory on which x → 0, y → 0 as t → ∞ is y = −x. (c) Determine the trajectories for the nonlinear system by integrating the equation for dy/d x. Sketch the trajectories for the nonlinear system that correspond to y = −x and y = x for the linear system. 18. Consider the autonomous system d x/dt = x,
dy/dt = −2y + x 3 .
(a) Show that the critical point (0, 0) is a saddle point. (b) Sketch the trajectories for the corresponding linear system and show that the trajectory for which x → 0, y → 0 as t → ∞ is given by x = 0. (c) Determine the trajectories for the nonlinear system for x = 0 by integrating the equation for dy/d x. Show that the trajectory corresponding to x = 0 for the linear system is unaltered, but that the one corresponding to y = 0 is y = x 3 /5. Sketch several of the trajectories for the nonlinear system. 䉴 19. The equation of motion of an undamped pendulum is d 2 θ/dt 2 + ω2 sin θ = 0, where ω2 = g/L. Let x = θ , y = dθ/dt to obtain the system of equations d x/dt = y,
dy/dt = −ω2 sin x.
(a) Show that the critical points are (±nπ, 0), n = 0, 1, 2, . . . , and that the system is almost linear in the neighborhood of each critical point. (b) Show that the critical point (0, 0) is a (stable) center of the corresponding linear system. Using Theorem 9.3.2 what can be said about the nonlinear system? The situation is similar at the critical points (±2nπ, 0), n = 1, 2, 3, . . . . What is the physical interpretation of these critical points? (c) Show that the critical point (π, 0) is an (unstable) saddle point of the corresponding linear system. What conclusion can you draw about the nonlinear system? The situation is similar at the critical points [±(2n − 1)π, 0], n = 1, 2, 3, . . . . What is the physical interpretation of these critical points? (d) Choose a value for ω2 and plot a few trajectories of the nonlinear system in the neighborhood of the origin. Can you now draw any further conclusion about the nature of the critical point at (0, 0) for the nonlinear system? (e) Using the value of ω2 from part (d) draw a phase portrait for the pendulum. Compare your plot with Figure 9.3.5 for the damped pendulum. 20. (a) By solving the equation for dy/d x, show that the equation of the trajectories of the undamped pendulum of Problem 19 can be written as 1 2 y 2
+ ω2 (1 − cos x) = c,
where c is a constant of integration. (b) Multiply Eq. (i) by m L 2 . Then express the result in terms of θ to obtain 2 1 dθ + mgL(1 − cos θ ) = E, m L2 2 dt 2 where E = m L c.
(i)
(ii)
489
9.3 Almost Linear Systems
(c) Show that the first term in Eq. (ii) is the kinetic energy of the pendulum and that the second term is the potential energy due to gravity. Thus the total energy E of the pendulum is constant along any trajectory; its value is determined by the initial conditions. 䉴 21. The motion of a certain undamped pendulum is described by the equations d x/dt = y,
dy/dt = −4 sin x.
If the pendulum is set in motion with an angular displacement A and no initial velocity, then the initial conditions are x(0) = A, y(0) = 0. (a) Let A = 0.25 and plot x versus t. From the graph estimate the amplitude R and period T of the resulting motion of the pendulum. (b) Repeat part (a) for A = 0.5, 1.0, 1.5, and 2.0. (c) How do the amplitude and period of the pendulum’s motion depend on the initial position A? Draw a graph to show each of these relationships. Can you say anything about the limiting value of the period as A → 0? (d) Let A = 4 and plot x versus t. Explain why this graph differs from those in parts (a) and (b). For what value of A does the transition take place? 䉴 22. Consider again the pendulum equations (see Problem 21) d x/dt = y,
dy/dt = −4 sin x.
If the pendulum is set in motion from its downward equilibrium position with angular velocity v, then the initial conditions are x(0) = 0, y(0) = v. (a) Plot x versus t for v = 2 and also for v = 5. Explain the differing motions of the pendulum that these two graphs represent. (b) There is a critical value of v, which we denote by vc , such that one type of motion occurs for v < vc and the other for v > vc . Estimate the value of vc . 䉴 23. This problem extends Problem 22 to a damped pendulum. The equations of motion are d x/dt = y,
dy/dt = −4 sin x − γ y,
where γ is the damping coefficient, with the initial conditions x(0) = 0, y(0) = v. (a) For γ = 1/4 plot x versus t for v = 2 and for v = 5. Explain these plots in terms of the motions of the pendulum that they represent. Also explain how they relate to the corresponding graphs in Problem 22(a). (b) Estimate the critical value vc of the initial velocity where the transition from one type of motion to the other occurs. (c) Repeat part (b) for other values of γ and determine how vc depends on γ . 24. Theorem 9.3.2 provides no information about the stability of a critical point of an almost linear system if that point is a center of the corresponding linear system. That this must be the case is illustrated by the systems d x/dt = y + x(x 2 + y 2 ), dy/dt = −x + y(x 2 + y 2 )
(i)
and d x/dt = y − x(x 2 + y 2 ), dy/dt = −x − y(x 2 + y 2 ).
(ii)
(a) Show that (0, 0) is a critical point of each system and, furthermore, is a center of the corresponding linear system. (b) Show that each system is almost linear. (c) Let r 2 = x 2 + y 2 , and note that x d x/dt + y dy/dt = r dr/dt. For system (ii) show that dr/dt < 0 and that r → 0 as t → ∞; hence the critical point is asymptotically stable. For system (i) show that the solution of the initial value problem for r with r = r0 at t = 0 becomes unbounded as t → 1/2r02 , and hence the critical point is unstable.
490
Chapter 9. Nonlinear Differential Equations and Stability
25. In this problem we show how small changes in the coefficients of a system of linear equations can affect a critical point that is a center. Consider the system 0 1 x. x = −1 0 Show that the eigenvalues are ±i so that (0, 0) is a center. Now consider the system 1 x = x, −1 where || is arbitrarily small. Show that the eigenvalues are ± i. Thus no matter how small || = 0 is, the center becomes a spiral point. If < 0, the spiral point is asymptotically stable; if > 0, the spiral point is unstable. 26. In this problem we show how small changes in the coefficients of a system of linear equations can affect the nature of a critical point when the eigenvalues are equal. Consider the system −1 1 x = x. 0 −1 Show that the eigenvalues are r1 = −1, r2 = −1 so that the critical point (0, 0) is an asymptotically stable node. Now consider the system −1 1 x, x = − −1 √ where || is arbitrarily small. Show that if > 0, then the eigenvalues are −1 ± i , so that the asymptotically stable √ node becomes an asymptotically stable spiral point. If < 0, then the roots are −1 ± ||, and the critical point remains an asymptotically stable node. 䉴 27. In this problem we derive a formula for the natural period of an undamped nonlinear pendulum [c = 0 in Eq. (10) of Section 9.2]. Suppose that the bob is pulled through a positive angle α and then released with zero velocity. (a) We usually think of θ and dθ/dt as functions of t. However, if we reverse the roles of t and θ , we can regard t as a function of θ , and consequently also think of dθ/dt as a function of θ . Then derive the following sequence of equations: 1 dθ 2 2 d = −mgL sin θ, mL 2 dθ dt 1 dθ 2 = mgL(cos θ − cos α), m L 2 dt L dθ . dt = − √ 2g cos θ − cos α Why was the negative square root chosen in the last equation? (b) If T is the natural period of oscillation, derive the formula 0 L dθ T . =− √ 4 2g α cos θ − cos α (c) By using the identities cos θ = 1 − 2 sin2 (θ/2) and cos α = 1 − 2 sin2 (α/2), followed by the change of variable sin(θ/2) = k sin φ with k = sin(α/2), show that L π/2 dφ . T =4 g 0 1 − k 2 sin2 φ
491
9.4 Competing Species
The integral is called the elliptic integral of the first kind. Note that the period depends on the ratio L/g and also the initial displacement α through k = sin(α/2). (d) By evaluating the integral in the expression for T obtain values for T that you can compare with the graphical estimates you obtained in Problem 21. 28. A generalization of the damped pendulum equation discussed in the text, or a damped spring–mass system, is the Lie´nard equation dx d2x + c(x) + g(x) = 0. 2 dt dt If c(x) is a constant and g(x) = kx, then this equation has the form of the linear pendulum equation [replace sin θ with θ in Eq. (12) of Section 9.2]; otherwise the damping force c(x) d x/dt and restoring force g(x) are nonlinear. Assume that c is continuously differentiable, g is twice continuously differentiable, and g(0) = 0. (a) Write the Li´enard equation as a system of two first order equations by introducing the variable y = d x/dt. (b) Show that (0, 0) is a critical point and that the system is almost linear in the neighborhood of (0, 0). (c) Show that if c(0) > 0 and g (0) > 0, then the critical point is asymptotically stable, and that if c(0) < 0 or g (0) < 0, then the critical point is unstable. Hint: Use Taylor series to approximate c and g in the neighborhood of x = 0.
9.4 Competing Species ODE
ODE
In this section and the next we explore the application of phase plane analysis to some problems in population dynamics. These problems involve two interacting populations and are extensions of those discussed in Section 2.5, which dealt with a single population. While the equations discussed here are extremely simple, compared to the very complex relationships that exist in nature, it is still possible to acquire some insight into ecological principles from a study of these model problems. Suppose that in some closed environment there are two similar species competing for a limited food supply; for example, two species of fish in a pond that do not prey on each other, but do compete for the available food. Let x and y be the populations of the two species at time t. As discussed in Section 2.5, we assume that the population of each of the species, in the absence of the other, is governed by a logistic equation. Thus dx/dt = x(1 − σ1 x), dy/dt = y(2 − σ2 y),
(1a) (1b)
respectively, where 1 and 2 are the growth rates of the two populations, and 1 /σ1 and 2 /σ2 are their saturation levels. However, when both species are present, each will impinge on the available food supply for the other. In effect, they reduce the growth rates and saturation populations of each other. The simplest expression for reducing the growth rate of species x due to the presence of species y is to replace the growth rate factor 1 − σ1 x in Eq. (1a) by 1 − σ1 x − α1 y, where α1 is a measure of the degree to
492
Chapter 9. Nonlinear Differential Equations and Stability
which species y interferes with species x. Similarly, in Eq. (1b) we replace 2 − σ2 y by 2 − σ2 y − α2 x. Thus we have the system of equations dx/dt = x(1 − σ1 x − α1 y),
(2)
dy/dt = y(2 − σ2 y − α2 x).
The values of the positive constants 1 , σ1 , α1 , 2 , σ2 , and α2 depend on the particular species under consideration and in general must be determined from observations. We are interested in solutions of Eqs. (2) for which x and y are nonnegative. In the following two examples we discuss two typical problems in some detail. At the end of the section we return to the general equations (2).
Discuss the qualitative behavior of solutions of the system EXAMPLE
dx/dt = x(1 − x − y),
1
(3)
dy/dt = y(0.75 − y − 0.5x). We find the critical points by solving the system of algebraic equations x(1 − x − y) = 0,
y(0.75 − y − 0.5x) = 0.
(4)
There are four points that satisfy Eqs. (4), namely, (0, 0), (0, 0.75), (1, 0), and (0.5, 0.5); they correspond to equilibrium solutions of the system (3). The first three of these points involve the extinction of one or both species; only the last corresponds to the long-term survival of both species. Other solutions are represented as curves or trajectories in the x y-plane that describe the evolution of the populations in time. To begin to discover their qualitative behavior we can proceed in the following way. A direction field for the system (3) in the positive quadrant is shown in Figure 9.4.1; the heavy dots in this figure are the critical points or equilibrium solutions. Based on the direction field it appears that the point (0.5, 0.5) attracts other solutions and is therefore asymptotically stable, while the other three critical points are unstable. To confirm these conclusions we can look at the linear approximations near each critical point. The system (3) is almost linear in the neighborhood of each critical point. There are two ways to obtain the linear system near a critical point (X, Y ). First, we can use the substitution x = X + u, y = Y + v in Eqs. (3), retaining only the terms that are linear in u and v. Alternatively, we can use Eq. (13) of Section 9.3, that is, Fx (X, Y ) Fy (X, Y ) d u u , (5) = (X, Y ) G (X, Y ) v G v dt x y where, for the system (3), F(x, y) = x(1 − x − y), Thus Eq. (5) becomes d u 1 − 2X − Y = −0.5Y dt v
G(x, y) = y(0.75 − y − 0.5x).
−X 0.75 − 2Y − 0.5X
u . v
(6)
(7)
493
9.4 Competing Species y 1
0.75
0.5
0.25
0
0.25
0.50
0.75
1
1.25
x
FIGURE 9.4.1 Critical points and direction field for the system (3).
x = 0, y = 0. This critical point corresponds to a state in which both species die as a result of their competition. By rewriting the system (3) in the form 2 d x 1 0 x x + xy , (8) = − 0 0.75 y 0.5x y + y 2 dt y or by setting X = Y = 0 in Eq. (7), we see that near the origin the corresponding linear system is d x 1 0 x = . (9) 0 0.75 y dt y The eigenvalues and eigenvectors of the system (9) are 1 (1) = ; r2 = 0.75, r1 = 1, 0 so the general solution of the system is 1 t 0 0.75t x . e + c2 e = c1 0 1 y
(2) =
0 , 1
(10)
(11)
Thus the origin is an unstable node of both the linear system (9) and the nonlinear system (8) or (3). In the neighborhood of the origin all trajectories are tangent to the y-axis except for one trajectory that lies along the x-axis. x = 1, y = 0. This corresponds to a state in which species x survives the competition, but species y does not. The corresponding linear system is d u −1 −1 u = . (12) 0 0.25 v dt v
494
Chapter 9. Nonlinear Differential Equations and Stability
Its eigenvalues and eigenvectors are 1 (1) = ; r1 = −1, 0
r2 = 0.25,
(2) =
4 , −5
and its general solution is u 1 −t 4 0.25t . = c1 e + c2 e v 0 −5
(13)
(14)
Since the eigenvalues have opposite signs, the point (1, 0) is a saddle point, and hence is an unstable equilibrium point of the linear system (12) and of the nonlinear system (3). The behavior of the trajectories near (1, 0) can be seen from Eq. (14). If c2 = 0, then there is one pair of trajectories that approaches the critical point along the x-axis. All other trajectories depart from the neighborhood of (1, 0). x = 0, y = 0.75. In this case species y survives but x does not. The analysis is similar to that for the point (1, 0). The corresponding linear system is d u 0.25 0 u = . (15) −0.375 −0.75 v dt v The eigenvalues and eigenvectors are 8 (1) = ; r1 = 0.25, −3
r2 = −0.75,
(2)
so the general solution of Eq. (15) is 8 0.25t 0 −0.75t u + c2 . e e = c1 −3 1 v
0 = , 1
(16)
(17)
Thus the point (0, 0.75) is also a saddle point. All trajectories leave the neighborhood of this point except one pair that approaches along the y-axis. x = 0.5, y = 0.5. This critical point corresponds to a mixed equilibrium state, or coexistence, in the competition between the two species. The eigenvalues and eigenvectors of the corresponding linear system d u −0.5 −0.5 u = (18) v −0.25 −0.5 v dt are √ √ 2 ; (1) −0.146, = r1 = (−2 + 2)/4 ∼ = −1 √ (19) √ 2 . (2) ∼ = r2 = (−2 − 2)/4 = −0.854, 1 Therefore the general solution of Eq. (18) is √ √ u 2 2 e−0.854t . −0.146t + c2 e = c1 v −1 1
(20)
Since both eigenvalues are negative, the critical point (0.5, 0.5) is an asymptotically stable node of the linear system (18) and of the nonlinear system (3). All trajectories approach the critical point as t → ∞. One pair of trajectories approaches the critical
495
9.4 Competing Species
√ (2) point along the line with slope 2/2 determined from the eigenvector √ . All other trajectories approach the critical point tangent to the line with slope − 2/2 determined from the eigenvector (1) . A phase portrait for the system (3) is shown in Figure 9.4.2. By looking closely at the trajectories near each critical point you can see that they behave in the manner predicted by the linear system near that point. In addition, note that the quadratic terms on the right side of Eqs. (3) are all negative. Since for x and y large and positive these terms are the dominant ones, it follows that far from the origin in the first quadrant both x and y are negative, that is, the trajectories are directed inward. Thus all trajectories that start at a point (x0 , y0 ) with x0 > 0 and y0 > 0 eventually approach the point (0.5, 0.5). y
1
0.75
0.5
0.25
0.25
0.50
0.75
1
1.25
x
FIGURE 9.4.2 A phase portrait of the system (3).
Discuss the qualitative behavior of the solutions of the system EXAMPLE
2
dx/dt = x(1 − x − y), dy/dt = y(0.5 − 0.25y − 0.75x),
(21)
when x and y are nonnegative. Observe that this system is also a special case of the system (2) for two competing species. Once again, there are four critical points, namely, (0, 0), (1, 0), (0, 2), and (0.5, 0.5), corresponding to equilibrium solutions of the system (21). Figure 9.4.3 shows a direction field for the system (21), together with the four critical points. From the direction field it appears that the mixed equilibrium solution (0.5, 0.5) is a saddle point, and therefore unstable, while the points (1, 0) and (0, 2) are asymptotically stable. Thus, for competition described by Eqs. (21), one species will eventually overwhelm the other and drive it to extinction. The surviving species is determined by the initial state of the system. To confirm these conclusions we can look at the linear approximations near each critical point.
496
Chapter 9. Nonlinear Differential Equations and Stability y 2
1.5
1
0.5
0
0.25
0.50
0.75
1
1.25
x
FIGURE 9.4.3 Critical points and direction field for the system (21).
x = 0, y = 0. system
Neglecting the nonlinear terms in Eqs. (21), we obtain the linear d dt
x 1 = y 0
0 x , 0.5 y
(22)
which is valid near the origin. The eigenvalues and eigenvectors of the system (22) are 1 0 (1) (2) = ; r2 = 0.5, = , (23) r1 = 1, 0 1 so the general solution is
1 t 0 0.5t x e + c2 e . = c1 0 1 y
(24)
Therefore the origin is an unstable node of the linear system (22) and also of the nonlinear system (21). All trajectories leave the origin tangent to the y-axis except for one trajectory that lies along the x-axis. x = 1, y = 0.
The corresponding linear system is d u −1 −1 u = . 0 −0.25 v dt v
(25)
497
9.4 Competing Species
Its eigenvalues and eigenvectors are 1 r1 = −1, (1) = ; 0
r2 = −0.25,
(2) =
4 , −3
and its general solution is 1 −t 4 −0.25t u . e + c2 e = c1 0 −3 v
(26)
(27)
The point (1, 0) is an asymptotically stable node of the linear system (25) and of the nonlinear system (21). If the initial values of x and y are sufficiently close to (1, 0), then the interaction process will lead ultimately to that state, that is, to the survival of species x and the extinction of species y. There is one pair of trajectories that approaches the critical point along the x-axis. All other trajectories approach (1, 0) tangent to the line with slope −3/4 that is determined by the eigenvector (2) . x = 0, y = 2. The analysis in this case is similar to that for the point (1, 0). The appropriate linear system is d u −1 0 u = . (28) −1.5 −0.5 v dt v The eigenvalues and eigenvectors of this system are 1 (1) = ; r2 = −0.5, r1 = −1, 3
(2)
0 = , 1
and its general solution is u 1 −t 0 −0.5t = c1 . e + c2 e v 3 1
(29)
(30)
Thus the critical point (0, 2) is an asymptotically stable node of both the linear system (28) and the nonlinear system (21). All trajectories approach the critical point along the y-axis except for one trajectory that approaches along the line with slope 3. x = 0.5, y = 0.5.
The corresponding linear system is d u −0.5 −0.5 u = . v −0.375 −0.125 v dt
(31)
The eigenvalues and eigenvectors are √ −5 + 57 ∼ 1√ 1 ∼ r1 = (1) = , = = 0.1594, −1.3187 (−3 − 57)/8 16 (32) √ −5 − 57 ∼ 1√ 1 ∼ (2) = r2 = , = = −0.7844, 0.5687 (−3 + 57)/8 16 so the general solution is 1 1 u 0.1594t + c2 e e−0.7844t . = c1 −1.3187 0.5687 v
(33)
Since the eigenvalues are of opposite sign, the critical point (0.5, 0.5) is a saddle point, and therefore is unstable, as we had surmised earlier. One pair of trajectories approaches
498
Chapter 9. Nonlinear Differential Equations and Stability
the critical point as t → ∞; the others depart from it. As they√approach the critical point, the entering trajectories are tangent to the line with slope ( 57 − 3)/8 ∼ = 0.5687 determined from the eigenvector (2) . A phase portrait for the system (21) is shown in Figure 9.4.4. Near each of the critical points the trajectories of the nonlinear system behave as predicted by the corresponding linear approximation. Of particular interest is the pair of trajectories that enter the saddle point. These trajectories form a separatrix that divides the first quadrant into two basins of attraction. Trajectories starting above the separatrix ultimately approach the node at (0, 2), while trajectories starting below the separatrix approach the node at Bad math construct!(1,0)Bad math construct!. If the initial state lies precisely on the separatrix, then the solution (x, y) will approach the saddle point as t → ∞. However, the slightest perturbation as one follows this trajectory will dislodge the point (x, y) from the separatrix and cause it to approach one of the nodes instead. Thus, in practice, one species will survive the competition and the other will not. y 2
1.5
1
Separatrix
0.5
0.25
0.50
0.75
1
1.25
x
FIGURE 9.4.4 A phase portrait of the system (21).
Examples 1 and 2 show that in some cases the competition between two species leads to an equilibrium state of coexistence, while in other cases the competition results in the eventual extinction of one of the species. To understand more clearly how and why this happens, and to learn how to predict which situation will occur, it is useful to look
499
9.4 Competing Species
again at the general system (2). There are four cases to be considered, depending on the relative orientation of the lines 1 − σ1 x − α1 y = 0 and 2 − σ2 y − α2 x = 0,
(34)
as shown in Figure 9.4.5. These lines are called the x and y nullclines, respectively, because x is zero on the first and y is zero on the second. Let (X, Y ) denote any critical point in any one of the four cases. As in Examples 1 and 2 the system (2) is almost linear in the neighborhood of this point because the right side of each differential equation is a quadratic polynomial. To study the system (2) in the neighborhood of this critical point we can look at the corresponding linear system obtained from Eq. (13) of Section 9.3, d u −α1 X 1 − 2σ1 X − α1 Y u = . (35) −α2 Y 2 − 2σ2 Y − α2 X v dt v We now use Eq. (35) to determine the conditions under which the model described by Eqs. (2) permits the coexistence of the two species x and y. Of the four possible cases shown in Figure 9.4.5 coexistence is possible only in cases (c) and (d). In these cases the nonzero values of X and Y are readily obtained by solving the algebraic equations (34); the result is X=
1 σ2 − 2 α1 , σ1 σ2 − α1 α2
y
Y =
2 σ1 − 1 α2 . σ1 σ2 − α1 α2
(36)
y 1/α 1
2 /σ 2
2 /σ 2
1/α 1
2 /α 2
1/σ 1
2 /α 2
x
(a)
1/σ 1
x
(b)
y
y
2 /σ 2
1/α 1
1/α 1 2 /σ 2
2 /α 2
(c)
1/σ 1
x
1/σ 1
2 /α 2
x
(d)
FIGURE 9.4.5 The various cases for the competing species system (2).
500
Chapter 9. Nonlinear Differential Equations and Stability
Further, since 1 − σ1 X − α1 Y = 0 and 2 − σ2 Y − α2 X = 0, Eq. (35) immediately reduces to d u −σ1 X −α1 X u . (37) = v −α2 Y −σ2 Y dt v The eigenvalues of the system (37) are found from the equation r 2 + (σ1 X + σ2 Y )r + (σ1 σ2 − α1 α2 )X Y = 0.
(38)
Thus r1,2 =
−(σ1 X + σ2 Y ) ±
(σ1 X + σ2 Y )2 − 4(σ1 σ2 − α1 α2 )X Y 2
.
(39)
If σ1 σ2 − α1 α2 < 0, then the radicand of Eq. (39) is positive and greater than (σ1 X + σ2 Y )2 . Thus the eigenvalues are real and of opposite sign. Consequently, the critical point (X, Y ) is an (unstable) saddle point, and coexistence is not possible. This is the case in Example 2, where σ1 = 1, α1 = 1, σ2 = 0.25, α2 = 0.75, and σ1 σ2 − α1 α2 = −0.5. On the other hand, if σ1 σ2 − α1 α2 > 0, then the radicand of Eq. (39) is less than (σ1 X + σ2 Y )2 . Thus the eigenvalues are real, negative, and unequal, or complex with negative real part. A straightforward analysis of the radicand of Eq. (39) shows that the eigenvalues cannot be complex (see Problem 7). Thus the critical point is an asymptotically stable node, and sustained coexistence is possible. This is illustrated by Example 1, where σ1 = 1, α1 = 1, σ2 = 1, α2 = 0.5, and σ1 σ2 − α1 α2 = 0.5. Let us relate this result to Figures 9.4.5c and 9.4.5d. In Figure 9.4.5c we have 1 > 2 σ1 α2
or
1 α2 > 2 σ1
and
2 > 1 σ2 α1
or
2 α1 > 1 σ2 .
(40)
These inequalities, coupled with the condition that X and Y given by Eqs. (36) be positive, yield the inequality σ1 σ2 < α1 α2 . Hence in this case the critical point is a saddle point. On the other hand, in Figure 9.4.5d we have 1 < 2 σ1 α2
or
1 α2 < 2 σ1
and
2 < 1 σ2 α1
or
2 α1 < 1 σ2 .
(41)
Now the condition that X and Y are positive yields σ1 σ2 > α1 α2 . Hence the critical point is asymptotically stable. For this case we can also show that the other critical points (0, 0), (1 /σ1 , 0), and (0, 2 /σ2 ) are unstable. Thus for any positive initial values of x and y the two populations approach the equilibrium state of coexistence given by Eqs. (36). Equations (2) provide the biological interpretation of the result that coexistence occurs or not depending on whether σ1 σ2 − α1 α2 is positive or negative. The σ ’s are a measure of the inhibitory effect the growth of each population has on itself, while the α’s are a measure of the inhibiting effect the growth of each population has on the other species. Thus, when σ1 σ2 > α1 α2 , interaction (competition) is “weak” and the species can coexist; when σ1 σ2 < α1 α2 , interaction (competition) is “strong” and the species cannot coexist—one must die out.
501
9.4 Competing Species
PROBLEMS
Each of Problems 1 through 6 can be interpreted as describing the interaction of two species with populations x and y. In each of these problems carry out the following steps. (a) Draw a direction field and describe how solutions seem to behave. (b) Find the critical points. (c) For each critical point find the corresponding linear system. Find the eigenvalues and eigenvectors of the linear system; classify each critical point as to type, and determine whether it is asymptotically stable, stable, or unstable. (d) Sketch the trajectories in the neighborhood of each critical point. (e) Compute and plot enough trajectories of the given system to show clearly the behavior of the solutions. (f) Determine the limiting behavior of x and y as t → ∞ and interpret the results in terms of the populations of the two species.
䉴 䉴 䉴
1. d x/dt dy/dt 3. d x/dt dy/dt 5. d x/dt dy/dt
= = = = = =
x(1.5 − x − 0.5y) y(2 − y − 0.75x) x(1.5 − 0.5x − y) y(2 − y − 1.125x) x(1 − x − y) y(1.5 − y − x)
䉴 䉴 䉴
2. d x/dt dy/dt 4. d x/dt dy/dt 6. d x/dt dy/dt
= = = = = =
x(1.5 − x − 0.5y) y(2 − 0.5y − 1.5x) x(1.5 − 0.5x − y) y(0.75 − y − 0.125x) x(1 − x + 0.5y) y(2.5 − 1.5y + 0.25x)
7. Show that (σ1 X + σ2 Y )2 − 4(σ1 σ2 − α1 α2 )X Y = (σ1 X − σ2 Y )2 + 4α1 α2 X Y. Hence conclude that the eigenvalues given by Eq. (39) can never be complex. 8. Two species of fish that compete with each other for food, but do not prey on each other, are bluegill and redear. Suppose that a pond is stocked with bluegill and redear and let x and y be the populations of bluegill and redear, respectively, at time t. Suppose further that the competition is modeled by the equations d x/dt = x(1 − σ1 x − α1 y), dy/dt = y(2 − σ2 y − α2 x). (a) If 2 /α2 > 1 /σ1 and 2 /σ2 > 1 /α1 , show that the only equilibrium populations in the pond are no fish, no redear, or no bluegill. What will happen? (b) If 1 /σ1 > 2 /α2 and 1 /α1 > 2 /σ2 , show that the only equilibrium populations in the pond are no fish, no redear, or no bluegill. What will happen? 9. Consider the competition between bluegill and redear mentioned in Problem 8. Suppose that 2 /α2 > 1 /σ1 and 1 /α1 > 2 /σ2 , so, as shown in the text, there is a stable equilibrium point at which both species can coexist. It is convenient to rewrite the equations of Problem 8 in terms of the carrying capacities of the pond for bluegill (B = 1 /σ1 ) in the absence of redear and for redear (R = 2 /σ2 ) in the absence of bluegill. (a) Show that the equations of Problem 8 take the form γ γ 1 1 dy dx = 1 x 1 − x − 1 y , = 2 y 1 − y − 2 x , dt B B dt R R where γ1 = α1 /σ1 and γ2 = α2 /σ2 . Determine the coexistence equilibrium point (X, Y ) in terms of B, R, γ1 , and γ2 . (b) Now suppose that a fisherman fishes only for bluegill with the effect that B is reduced. What effect does this have on the equilibrium populations? Is it possible, by fishing, to reduce the population of bluegill to such a level that they will die out? 10. Consider the system (2) in the text, and assume that σ1 σ2 − α1 α2 = 0.
502
Chapter 9. Nonlinear Differential Equations and Stability
(a) Find all the critical points of the system. Observe that the result depends on whether or not σ1 2 − α2 1 is zero. (b) If σ1 2 − α2 1 > 0, classify each critical point and determine whether it is asymptotically stable, stable, or unstable. Note that Problem 5 is of this type. Then do the same if σ1 2 − α2 1 < 0. (c) Analyze the nature of the trajectories when σ1 2 − α2 1 = 0. 11. Consider the system (3) in Example 1 of the text. Recall that this system has an asymptotically stable critical point at (0.5, 0.5), corresponding to the stable coexistence of the two population species. Now suppose that immigration or emigration occurs at the constant rates of δa and δb for the species x and y, respectively. In this case Eqs. (3) are replaced by d x/dt = x(1 − x − y) + δa, dy/dt = y(0.75 − y − 0.5x) + δb.
(i)
The question is what effect this has on the location of the stable equilibrium point. (a) To find the new critical point we must solve the equations x(1 − x − y) + δa = 0, y(0.75 − y − 0.5x) + δb = 0.
(ii)
One way to proceed is to assume that x and y are given by power series in the parameter δ; thus x = x0 + x1 δ + · · · ,
y = y0 + y1 δ + · · · .
(iii)
Substitute Eqs. (iii) into Eqs. (ii) and collect terms according to powers of δ. (b) From the constant terms (the terms not involving δ) show that x0 = 0.5 and y0 = 0.5, thus confirming that in the absence of immigration or emigration the critical point is (0.5, 0.5). (c) From the terms that are linear in δ show that x1 = 4a − 4b,
y1 = −2a + 4b.
(iv)
(d) Suppose that a > 0 and b > 0 so that immigration occurs for both species. Show that the resulting equilibrium solution may represent an increase in both populations, or an increase in one but a decrease in the other. Explain intuitively why this is a reasonable result. 䉴 12. Suppose that a certain pair of competing species are described by the system d x/dt = x(4 − x − y),
dy/dt = y(2 + 2α − y − αx),
where α > 0 is a parameter. (a) Find the critical points. Note that (2, 2) is a critical point for all values of α. (b) Determine the nature of the critical point (2, 2) for α = 0.75 and for α = 1.25. There is a value of α between 0.75 and 1.25 where the nature of the critical point changes abruptly. Denote this value by α0 ; it is called a bifurcation point. (c) Find the approximate linear system near the point (2, 2) in terms of α. (d) Find the eigenvalues of the linear system in part (c) as functions of α. Then determine the bifurcation point α0 . (e) Draw phase portraits near (2, 2) for α = α0 and for values of α slightly less than, and slightly greater than, α0 . Explain how the transition in the phase portrait takes place as α passes through α0 . 䉴 13. The system x = −y,
y = −γ y − x(x − 0.15)(x − 2)
503
9.5 Predator–Prey Equations
results from an approximation to the Hodgkin–Huxley2 equations, which model the transmission of neural impulses along an axon. (a) Find the critical points and classify them by investigating the approximate linear system near each one. (b) Draw phase portraits for γ = 0.8 and for γ = 1.5. (c) Consider the trajectory that leaves the critical point (2, 0). Find the value of γ for which this trajectory ultimately approaches the origin as t → ∞. Draw a phase portrait for this value of γ .
9.5 Predator–Prey Equations ODE
ODE
In the preceding section we discussed a model of two species that interact by competing for a common food supply or other natural resource. In this section we investigate the situation in which one species (the predator) preys on the other species (the prey), while the prey lives on a different source of food. For example, consider foxes and rabbits in a closed forest: The foxes prey on the rabbits, the rabbits live on the vegetation in the forest. Other examples are bass in a lake as predators and redear as prey, or ladybugs as predators and aphids as prey. We emphasize again that a model involving only two species cannot fully describe the complex relationships among species that actually occur in nature. Nevertheless, the study of simple models is the first step toward an understanding of more complicated phenomena. We will denote by x and y the populations of the prey and predator, respectively, at time t. In constructing a model of the interaction of the two species, we make the following assumptions: 1. 2. 3.
In the absence of the predator the prey grows at a rate proportional to the current population; thus dx/dt = ax, a > 0, when y = 0. In the absence of the prey the predator dies out; thus dy/dt = −cy, c > 0, when x = 0. The number of encounters between predator and prey is proportional to the product of their populations. Each such encounter tends to promote the growth of the predator and to inhibit the growth of the prey. Thus the growth rate of the predator is increased by a term of the form γ x y, while the growth rate of the prey is decreased by a term −αx y, where γ and α are positive constants. As a consequence of these assumptions, we are led to the equations dx/dt = ax − αx y = x(a − αy), dy/dt = −cy + γ x y = y(−c + γ x).
(1)
The constants a, c, α, and γ are all positive; a and c are the growth rate of the prey and the death rate of the predator, respectively, and α and γ are measures of the effect 2
Alan L. Hodgkin (1914 –1998) and Andrew F. Huxley (1917– ) were awarded the Nobel prize in physiology and medicine in 1963 for their work on the excitation and transmission of neural impulses, first published in 1952, when they were at Cambridge University.
504
Chapter 9. Nonlinear Differential Equations and Stability
of the interaction between the two species. Equations (1) are known as the Lotka– Volterra equations. They were developed in papers by Lotka3 in 1925 and by Volterra4 in 1926. Although these are rather simple equations, they do characterize a wide class of problems. Ways of making them more realistic are discussed at the end of this section and in the problems. Our goal here is to determine the qualitative behavior of the solutions (trajectories) of the system (1) for arbitrary positive initial values of x and y. We do this first for a specific example and then return to the general equations (1) at the end of the section.
Discuss the solutions of the system EXAMPLE
dx/dt = x(1 − 0.5y) = x − 0.5x y,
1
dy/dt = y(−0.75 + 0.25x) = −0.75y + 0.25x y
(2)
for x and y positive. The critical points of this system are the solutions of the algebraic equations x(1 − 0.5y) = 0,
y(−0.75 + 0.25x) = 0,
(3)
namely, the points (0, 0) and (3, 2). Figure 9.5.1 shows the critical points and a direction field for the system (2). From this figure we conclude tentatively that the trajectories in the first quadrant may be closed curves surrounding the critical point (3, 2). Next we examine the local behavior of solutions near each critical point. Near the origin we can neglect the nonlinear terms in Eqs. (2) to obtain the corresponding linear system d x 1 0 x = . (4) 0 −0.75 y dt y The eigenvalues and eigenvectors of Eq. (4) are 1 (1) ; r2 = −0.75, r1 = 1, = 0 so its general solution is
(2)
1 t 0 −0.75t x . e + c2 e = c1 0 1 y
0 = , 1
(5)
(6)
Thus the origin is a saddle point of both the linear system (4) and of the nonlinear system (2), and therefore is unstable. One pair of trajectories enters the origin along the y-axis; all other trajectories depart from the neighborhood of the origin. 3
Alfred J. Lotka (1880 –1949), an American biophysicist, was born in what is now the Ukraine, and was educated mainly in Europe. He is remembered chiefly for his formulation of the Lotka –Volterra equations. He was also the author, in 1924, of the first book on mathematical biology; it is now available as Elements of Mathematical Biology (New York: Dover, 1956).
4
Vito Volterra (1860 –1940), a distinguished Italian mathematician, held professorships at Pisa, Turin, and Rome. He is particularly famous for his work in integral equations and functional analysis. Indeed, one of the major classes of integral equations is named for him; see Problem 20 of Section 6.6. His theory of interacting species was motivated by data collected by a friend, D’Ancona, concerning fish catches in the Adriatic Sea. A translation of his 1926 paper can be found in an appendix to R. N. Chapman, Animal Ecology with Special Reference to Insects (New York: McGraw-Hill, 1931).
505
9.5 Predator–Prey Equations y 5
4
3
2
1
0
1
2
3
4
5
6
7
x
FIGURE 9.5.1 Critical points and direction field for the predator–prey system (2).
To examine the critical point (3, 2) we can either make the substitution x = 3 + u,
y =2+v
(7)
in Eqs. (2) and then neglect the nonlinear terms in u and v, or else refer to Eq. (13) of Section 9.3. In either case we obtain the linear system d u 0 −1.5 u = . (8) 0.5 0 v dt v The eigenvalues and eigenvectors of this system are √ √ 3i 3i 1√ (1) , = , ; r2 = − r1 = −i/ 3 2 2
(2)
=
1 √
i/ 3
.
(9)
Since the eigenvalues are imaginary, the critical point (3, 2) is a center of the linear system (8) and is therefore a stable critical point for that system. Recall from Section 9.3 that this is one of the cases in which the behavior of the linear system may or may not carry over to the nonlinear system, so the nature of the point (3, 2) for the nonlinear system (2) cannot be determined from this information. The simplest way to find the trajectories of the linear system (8) is to divide the second of Eqs. (8) by the first so as to obtain the differential equation dv/dt 0.5u u dv = = =− , du du/dt −1.5v 3v or u du + 3v dv = 0.
(10)
u 2 + 3v 2 = k,
(11)
Consequently,
506
Chapter 9. Nonlinear Differential Equations and Stability
where k is an arbitrary nonnegative constant of integration. Thus the trajectories of the linear system (8) are ellipses centered at the critical point and elongated somewhat in the horizontal direction. Now let us return to the nonlinear system (2). Dividing the second of Eqs. (2) by the first, we obtain y(−0.75 + 0.25x) dy = . (12) dx x(1 − 0.5y) Equation (12) is a separable equation and can be put in the form −0.75 + 0.25x 1 − 0.5y dy = dx, y x from which it follows that 0.75 ln x + ln y − 0.5y − 0.25x = c,
(13)
where c is a constant of integration. Although by using only elementary functions we cannot solve Eq. (13) explicitly for either variable in terms of the other, it is possible to show that the graph of the equation for a fixed value of c is a closed curve surrounding the critical point (3, 2). Thus the critical point is also a center of the nonlinear system (2) and the predator and prey populations exhibit a cyclic variation. Figure 9.5.2 shows a phase portrait of the system (2). For some initial conditions the trajectory represents small variations in x and y about the critical point, and is almost elliptical in shape, as the linear analysis suggests. For other initial conditions the oscillations in x and y are more pronounced, and the shape of the trajectory is significantly different from an ellipse. Observe that the trajectories are traversed in the counterclockwise direction. The dependence of x and y on t for a typical set of initial conditions is shown in Figure 9.5.3. Note that x and y are periodic functions of t, as they must be since the trajectories are closed curves. Further, the oscillation of the predator population lags behind that of the prey. Starting from a state in which both predator and prey populations are relatively small, the prey first increase because there is little predation. Then the predators, with abundant food, increase in population also. This causes heavier predation and the prey tend to decrease. Finally, with a diminished food supply, the predator population also decreases, and the system returns to the original state. y
4 3 2
1
1
2
3
4
5
6
FIGURE 9.5.2 A phase portrait of the system (2).
7
x
507
9.5 Predator–Prey Equations x, y Prey x(t)
6
Predator y(t)
4
2
5
10
15
20
25
t
FIGURE 9.5.3 Variations of the prey and predator populations with time for the system (2).
The general system (1) can be analyzed in exactly the same way as in the example. The critical points of the system (1) are the solutions of x(a − αy) = 0,
y(−c + γ x) = 0,
that is, the points (0, 0) and (c/γ , a/α). We first examine the solutions of the corresponding linear system near each critical point. In the neighborhood of the origin the corresponding linear system is d x a 0 x = . (14) 0 −c y dt y The eigenvalues and eigenvectors are 1 (1) ; r1 = a, = 0 so the general solution is
r2 = −c,
(2)
1 at 0 −ct x e + c2 e . = c1 0 1 y
0 = , 1
(15)
(16)
Thus the origin is a saddle point and hence unstable. Entrance to the saddle point is along the y-axis; all other trajectories depart from the neighborhood of the critical point. Next consider the critical point (c/γ , a/α). If x = (c/γ ) + u and y = (a/α) + v, then the corresponding linear system is d u 0 −αc/γ u = . (17) γ a/α 0 v dt v √ The eigenvalues of the system (17) are r = ±i ac, so the critical point is a (stable) center of the linear system. To find the trajectories of the system (17) we can divide the second equation by the first to obtain dv/dt (γ a/α)u dv = =− , du du/dt (αc/γ )v
(18)
508
Chapter 9. Nonlinear Differential Equations and Stability
or γ 2 au du + α 2 cv dv = 0.
(19)
γ 2 au 2 + α 2 cv 2 = k,
(20)
Consequently,
where k is a nonnegative constant of integration. Thus the trajectories of the linear system (17) are ellipses, just as in the example. Returning briefly to the nonlinear system (1), observe that it can be reduced to the single equation dy/dt y(−c + γ x) dy = = . dx dx/dt x(a − αy) Equation (21) is separable and has the solution a ln y − αy + c ln x − γ x = C,
(21)
(22)
where C is a constant of integration. Again it is possible to show that the graph of Eq. (22), for fixed C, is a closed curve surrounding the critical point (c/γ , a/α). Thus this critical point is also a center for the general nonlinear system (1). The cyclic variation of the predator and prey populations can be analyzed in more detail when the deviations from the point (c/γ , a/α) are small and the linear system (17) can be used. The solution of the system (17) can be written in the form √ √ a c c K sin( ac t + φ), v= (23) u = K cos( ac t + φ), γ α a where the constants K and φ are determined by the initial conditions. Thus √ c c x = + K cos( ac t + φ), γ γ (24) √ a a c y= + K sin( ac t + φ). α α a These equations are good approximations for the nearly elliptical trajectories close to the critical point (c/γ , a/α). We can use them to draw several conclusions about the cyclic variation of the predator and prey on such trajectories. 1. 2. 3.
4.
The √sizes of the predator and prey populations vary sinusoidally with period 2π/ ac. This period of oscillation is independent of the initial conditions. The predator and prey populations are out of phase by one-quarter of a cycle. The prey leads and the predator lags, as explained in the example. √ √ The amplitudes of the oscillations are K c/γ for the prey and a cK /α a for the predator and hence depend on the initial conditions as well as on the parameters of the problem. The average populations of predator and prey over one complete cycle are c/γ and a/α, respectively. These are the same as the equilibrium populations; see Problem 10.
Cyclic variations of predator and prey as predicted by Eqs. (1) have been observed in nature. One striking example is described by Odum (pp. 191–192); based on the records of the Hudson Bay Company of Canada, the abundance of lynx and snowshoe hare as indicated by the number of pelts turned in over the period 1845–1935 shows
509
9.5 Predator–Prey Equations
a distinct periodic variation with period of 9 to 10 years. The peaks of abundance are followed by very rapid declines, and the peaks of abundance of the lynx and hare are out of phase, with that of the hare preceding that of the lynx by a year or more. The Lotka–Volterra model of the predator–prey problem has revealed a cyclic variation that perhaps could have been anticipated. On the other hand, the use of the Lotka–Volterra model in other situations can lead to conclusions that are not intuitively obvious. An example that suggests a possible danger in using insecticides is given in Problem 12. One criticism of the Lotka–Volterra equations is that in the absence of the predator the prey will grow without bound. This can be corrected by allowing for the natural inhibiting effect that an increasing population has on the growth rate of the population; for example, the first of Eqs. (1) can be modified so that when y = 0, it reduces to a logistic equation for x (see Problem 13). The most important consequence of this modification is that the critical point at (c/γ , a/α) moves to (c/γ , a/α − σ c/αγ ) and becomes an asymptotically stable point. It is either a node or a spiral point depending on the values of the parameters in the differential equations. In either case, other trajectories are no longer closed curves but approach the critical point as t → ∞.
PROBLEMS
Each of Problems 1 through 5 can be interpreted as describing the interaction of two species with population densities x and y. In each of these problems carry out the following steps. (a) Draw a direction field and describe how solutions seem to behave. (b) Find the critical points. (c) For each critical point find the corresponding linear system. Find the eigenvalues and eigenvectors of the linear system; classify each critical point as to type, and determine whether it is asymptotically stable, stable, or unstable. (d) Sketch the trajectories in the neighborhood of each critical point. (e) Draw a phase portrait for the system. (f) Determine the limiting behavior of x and y as t → ∞ and interpret the results in terms of the populations of the two species.
䉴 䉴 䉴
䉴
1. d x/dt dy/dt 3. d x/dt dy/dt 5. d x/dt dy/dt
= = = = = =
x(1.5 − 0.5y) y(−0.5 + x) x(1 − 0.5x − 0.5y) y(−0.25 + 0.5x) x(−1 + 2.5x − 0.3y − x 2 ) y(−1.5 + x)
䉴 䉴
2. d x/dt dy/dt 4. d x/dt dy/dt
= = = =
x(1 − 0.5y) y(−0.25 + 0.5x) x(1.125 − x − 0.5y) y(−1 + x)
6. In this problem we examine the phase difference between the cyclic variations of the predator and prey populations as given by Eqs. (24) of the text. Suppose we assume that K > 0 and that t is measured from the time that the prey population x is a√maximum; then φ = 0. Show that the predator population y is a maximum at t = π/2 ac = T /4, where T is the period of the oscillation. When is the prey population increasing most rapidly, decreasing most rapidly, a minimum? Answer the same questions for the predator population. Draw a typical elliptic trajectory enclosing the point (c/γ , a/α), and mark these points on it. 7. (a) Find the ratio of the amplitudes of the oscillations of the prey and predator populations about the critical point (c/γ , a/α), using the approximation (24), which is valid for small oscillations. Observe that the ratio is independent of the initial conditions. (b) Evaluate the ratio found in part (a) for the system (2). (c) Estimate the amplitude ratio for the solution of the nonlinear system (2) shown in Figure 9.5.3. Does the result agree with that obtained from the linear approximation?
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Chapter 9. Nonlinear Differential Equations and Stability
䉴
䉴
(d) Determine the prey–predator amplitude ratio for other solutions of the system (2), that is, for solutions satisfying other initial conditions. Is the ratio independent of the initial conditions? 8. (a) Find the period of the oscillations of the prey and predator populations, using the approximation (24), which is valid for small oscillations. Note that the period is independent of the amplitude of the oscillations. (b) For the solution of the nonlinear system (2) shown in Figure 9.5.3 estimate the period as well as possible. Is the result the same as for the linear approximation? (c) Calculate other solutions of the system (2), that is, solutions satisfying other initial conditions, and determine their periods. Is the period the same for all initial conditions? 9. Consider the system d x/dt = ax[1 − (y/2)],
dy/dt = by[−1 + (x/3)],
where a and b are positive constants. Observe that this system is the same as in the example in the text if a = 1 and b = 0.75. Suppose the initial conditions are x(0) = 5 and y(0) = 2. (a) Let a = 1 and b = 1. Plot the trajectory in the phase plane and determine (or estimate) the period of the oscillation. (b) Repeat part (a) for a = 3 and a = 1/3, with b = 1. (c) Repeat part (a) for b = 3 and b = 1/3, with a = 1. (d) Describe how the period and the shape of the trajectory depend on a and b. 䉴 10. The average sizes of the prey and predator populations are defined as x=
1 T
A+T
x(t) dt, A
y=
1 T
A+T
y(t) dt, A
respectively, where T is the period of a full cycle, and A is any nonnegative constant. (a) Using the approximation (24), valid near the critical point, show that x = c/γ and y = a/α. (b) For the solution of the nonlinear system (2) shown in Figure 9.5.3 estimate x and y as well as you can. Try to determine whether x and y are given by c/γ and a/α, respectively, in this case. Hint: Consider how you might estimate the value of an integral even though you do not have a formula for the integrand. (c) Calculate other solutions of the system (2), that is, solutions satisfying other initial conditions, and determine x and y for these solutions. Are the values of x and y the same for all solutions? 11. Suppose that the predator–prey equations (1) of the text describe foxes (y) and rabbits (x) in a forest. A trapping company is engaged in trapping foxes and rabbits for their pelts. Explain why it is reasonable for the company to conduct its operation so as to move the population of each species closer to the center (c/γ , a/α). When is it best to trap foxes? Rabbits? Rabbits and foxes? Neither? Hint: See Problem 6. An intuitive argument is all that is required. 12. Suppose that an insect population x is controlled by a natural predator population y according to the model (1), so that there are small cyclic variations of the populations about the critical point (c/γ , a/α). Suppose that an insecticide is employed with the goal of reducing the population of the insects, and suppose that this insecticide is also toxic to the predators; indeed, suppose that the insecticide kills both prey and predator at rates proportional to their respective populations. Write down the modified differential equations, determine the new equilibrium point, and compare it to the original equilibrium point. To ban insecticides on the basis of this simple model and counterintuitive result would certainly be ill-advised. On the other hand, it is also rash to ignore the possible genuine existence of a phenomenon suggested by such a model.
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9.6 Liapunov’s Second Method
13. As mentioned in the text, one improvement in the predator–prey model is to modify the equation for the prey so that it has the form of a logistic equation in the absence of the predator. Thus in place of Eqs. (1) we consider the system d x/dt = x(a − σ x − αy),
dy/dt = y(−c + γ x),
where a, σ , α, c, and γ are positive constants. Determine all critical points and discuss their nature and stability characteristics. Assume that a/σ c/γ . What happens for initial data x = 0, y = 0?
9.6 Liapunov’s Second Method In Section 9.3 we showed how the stability of a critical point of an almost linear system can usually be determined from a study of the corresponding linear system. However, no conclusion can be drawn when the critical point is a center of the corresponding linear system. Examples of this situation are the undamped pendulum, Equations (1) and (2) below, and the predator–prey problem discussed in Section 9.5. Also, for an asymptotically stable critical point it may be important to investigate the basin of attraction; that is, the domain such that all solutions starting within that domain approach the critical point. Since the theory of almost linear systems is a local theory, it provides no information about this question. In this section we discuss another approach, known as Liapunov’s5 second method or direct method. The method is referred to as a direct method because no knowledge of the solution of the system of differential equations is required. Rather, conclusions about the stability or instability of a critical point are obtained by constructing a suitable auxiliary function. The technique is a very powerful one that provides a more global type of information, for example, an estimate of the extent of the basin of attraction of a critical point. In addition, Liapunov’s second method can also be used to study systems of equations that are not almost linear; however, we will not discuss such problems. Basically, Liapunov’s second method is a generalization of two physical principles for conservative systems, namely, (i) a rest position is stable if the potential energy is a local minimum, otherwise it is unstable, and (ii) the total energy is a constant during any motion. To illustrate these concepts, again consider the undamped pendulum (a conservative mechanical system), which is governed by the equation g d 2θ + sin θ = 0. 2 L dt The corresponding system of first order equations is dx = y, dt 5
dy g = − sin x, dt L
(1)
(2)
Alexandr M. Liapunov (1857–1918), a student of Chebyshev at St. Petersburg, taught at the University of Kharkov from 1885 to 1901, when he became academician in applied mathematics at the St. Petersburg Academy of Sciences. In 1917 he moved to Odessa because of his wife’s frail health. His research in stability encompassed both theoretical analysis and applications to various physical problems. His second method formed part of his most influential work, General Problem of Stability of Motion, published in 1892.
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Chapter 9. Nonlinear Differential Equations and Stability
where x = θ and y = dθ/dt. If we omit an arbitrary constant, the potential energy U is the work done in lifting the pendulum above its lowest position, namely, U (x, y) = mgL(1 − cos x);
(3)
see Figure 9.2.2. The critical points of the system (2) are x = ±nπ, y = 0, n = 0, 1, 2, 3, . . . , corresponding to θ = ±nπ, dθ/dt = 0. Physically, we expect the points x = 0, y = 0; x = ±2π, y = 0; . . . , corresponding to θ = 0, ±2π, . . . , to be stable, since for them the pendulum bob is vertical with the weight down; further, we expect the points x = ±π, y = 0; x = ±3π, y = 0; . . . , corresponding to θ = ±π, ±3π, . . . , to be unstable, since for them the pendulum bob is vertical with the weight up. This agrees with statement (i), for at the former points U is a minimum equal to zero, and at the latter points U is a maximum equal to 2mgL. Next consider the total energy V , which is the sum of the potential energy U and the kinetic energy 12 m L 2 (dθ/dt)2 . In terms of x and y V (x, y) = mgL(1 − cos x) + 12 m L 2 y 2 .
(4)
On a trajectory corresponding to a solution x = φ(t), y = ψ(t) of Eqs. (2), V can be considered as a function of t. The derivative of V [φ(t), ψ(t)] with respect to t is called the rate of change of V following the trajectory. By the chain rule dφ(t) dψ(t) d V [φ(t), ψ(t)] = Vx [φ(t), ψ(t)] + Vy [φ(t), ψ(t)] dt dt dt dx dy + m L2 y , (5) = (mgL sin x) dt dt where it is understood that x = φ(t), y = ψ(t). Finally, substituting in Eq. (5) for dx/dt and dy/dt from Eqs. (2) we find that d V /dt = 0. Hence V is a constant along any trajectory of the system (2), which is statement (ii). It is important to note that at any point (x, y) the rate of change of V along the trajectory through that point was computed without actually solving the system (2). It is precisely this fact that allows us to use Liapunov’s second method for systems whose solution we do not know, and is the main reason for its importance. At the stable critical points, x = ±2nπ, y = 0, n = 0, 1, 2, . . . , the energy V is zero. If the initial state, say, (x1 , y1 ), of the pendulum is sufficiently near a stable critical point, then the energy V (x1 , y1 ) is small, and the motion (trajectory) associated with this energy stays close to the critical point. It can be shown that if V (x1 , y1 ) is sufficiently small, then the trajectory is closed and contains the critical point. For example, suppose that (x1 , y1 ) is near (0, 0) and that V (x1 , y1 ) is very small. The equation of the trajectory with energy V (x1 , y1 ) is V (x, y) = mgL(1 − cos x) + 12 m L 2 y 2 = V (x1 , y1 ). For x small we have 1 − cos x = 1 − (1 − x 2 /2! + · · ·) ∼ = x 2 /2. Thus the equation of the trajectory is approximately 1 mgL x 2 2
+ 12 m L 2 y 2 = V (x1 , y1 ),
or y2 x2 = 1. + 2V (x1 , y1 )/mgL 2V (x1 , y1 )/m L 2
513
9.6 Liapunov’s Second Method
This is an ellipse enclosing the critical point (0, 0); the smaller V (x1 , y1 ) is, the smaller are the major and minor axes of the ellipse. Physically, the closed trajectory corresponds to a solution that is periodic in time—the motion is a small oscillation about the equilibrium point. If damping is present, however, it is natural to expect that the amplitude of the motion decays in time and that the stable critical point (center) becomes an asymptotically stable critical point (spiral point). See the phase portrait for the damped pendulum in Figure 9.3.5. This can almost be argued from a consideration of d V /dt. For the damped pendulum, the total energy is still given by Eq. (4), but now from Eqs. (8) of Section 9.3 dx/dt = y and dy/dt = −(g/L) sin x − (c/Lm)y. Substituting for dx/dt and dy/dt in Eq. (5) gives d V /dt = −cL y 2 ≤ 0. Thus the energy is nonincreasing along any trajectory and, except for the line y = 0, the motion is such that the energy decreases. Hence each trajectory must approach a point of minimum energy—a stable equilibrium point. If d V /dt < 0 instead of d V /dt ≤ 0, it is reasonable to expect that this would be true for all trajectories that start sufficiently close to the origin. To pursue these ideas further, consider the autonomous system dx/dt = F(x, y),
dy/dt = G(x, y),
(6)
and suppose that the point x = 0, y = 0 is an asymptotically stable critical point. Then there exists some domain D containing (0, 0) such that every trajectory that starts in D must approach the origin as t → ∞. Suppose that there exists an “energy” function V such that V ≥ 0 for (x, y) in D with V = 0 only at the origin. Since each trajectory in D approaches the origin as t → ∞, then following any particular trajectory, V decreases to zero as t approaches infinity. The type of result we want to prove is essentially the converse: If, on every trajectory, V decreases to zero as t increases, then the trajectories must approach the origin as t → ∞, and hence the origin is asymptotically stable. First, however, it is necessary to make several definitions. Let V be defined on some domain D containing the origin. Then V is said to be positive definite on D if V (0, 0) = 0 and V (x, y) > 0 for all other points in D. Similarly, V is said to be negative definite on D if V (0, 0) = 0 and V (x, y) < 0 for all other points in D. If the inequalities > and < are replaced by ≥ and ≤, then V is said to be positive semidefinite and negative semidefinite, respectively. We emphasize that in speaking of a positive definite (negative definite, . . . ) function on a domain D containing the origin, the function must be zero at the origin in addition to satisfying the proper inequality at all other points in D.
The function EXAMPLE
1
V (x, y) = sin(x 2 + y 2 ) is positive definite on x 2 + y 2 < π/2 since V (0, 0) = 0 and V (x, y) > 0 for 0 < x 2 + y 2 < π/2. However, the function V (x, y) = (x + y)2 is only positive semidefinite since V (x, y) = 0 on the line y = −x.
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Chapter 9. Nonlinear Differential Equations and Stability
We also want to consider the function Vⴢ (x, y) = Vx (x, y)F(x, y) + Vy (x, y)G(x, y),
(7)
where F and G are the same functions as in Eqs. (6). We choose this notation because Vⴢ (x, y) can be identified as the rate of change of V along the trajectory of the system (6) that passes through the point (x, y). That is, if x = φ(t), y = ψ(t) is a solution of the system (6), then dφ(t) dψ(t) d V [φ(t), ψ(t)] = Vx [φ(t), ψ(t)] + Vy [φ(t), ψ(t)] dt dt dt = Vx (x, y)F(x, y) + Vy (x, y)G(x, y) = Vⴢ (x, y).
(8)
The function Vⴢ is sometimes referred to as the derivative of V with respect to the system (6). We now state two Liapunov theorems, the first dealing with stability, the second with instability.
Theorem 9.6.1
Suppose that the autonomous system (6) has an isolated critical point at the origin. If there exists a function V that is continuous and has continuous first partial derivatives, is positive definite, and for which the function Vⴢ given by Eq. (7) is negative definite on some domain D in the x y-plane containing (0, 0), then the origin is an asymptotically stable critical point. If Vⴢ is negative semidefinite, then the origin is a stable critical point.
Theorem 9.6.2
Let the origin be an isolated critical point of the autonomous system (6). Let V be a function that is continuous and has continuous first partial derivatives. Suppose that V (0, 0) = 0 and that in every neighborhood of the origin there is at least one point at which V is positive (negative). If there exists a domain D containing the origin such that the function Vⴢ given by Eq. (7) is positive definite (negative definite) on D, then the origin is an unstable critical point. The function V is called a Liapunov function. Before sketching geometrical arguments for Theorems 9.6.1 and 9.6.2, we note that the difficulty in using these theorems is that they tell us nothing about how to construct a Liapunov function, assuming that one exists. In cases where the autonomous system (6) represents a physical problem, it is natural to consider first the actual total energy function of the system as a possible Liapunov function. However, Theorems 9.6.1 and 9.6.2 are applicable in cases where the concept of physical energy is not pertinent. In such cases a judicious trial-and-error approach may be necessary. Now consider the second part of Theorem 9.6.1, that is, the case Vⴢ ≤ 0. Let c ≥ 0 be a constant and consider the curve in the x y-plane given by V (x, y) = c. For c = 0 the curve reduces to the single point x = 0, y = 0. We assume that if 0 < c1 < c2 , then the curve V (x, y) = c1 contains the origin and lies within the curve V (x, y) = c2 , as illustrated in Figure 9.6.1a. We show that a trajectory starting inside a closed curve V (x, y) = c cannot cross to the outside. Thus, given a circle of radius about the
515
9.6 Liapunov’s Second Method y
y V(x, y) = c
x
c=0 c1
c2
0 < c1 < c2
x x = φ (t) y = ψ (t) Vx(x1, y1) i + Vy(x1, y1) j =
(x1, y1)
V(x1, y1)
(a)
d φ (t1) i dt
dψ (t )
+ dt 1 j = T(t1)
(b)
FIGURE 9.6.1 Geometrical interpretation of Liapunov’s method.
origin, by taking c sufficiently small we can ensure that every trajectory starting inside the closed curve V (x, y) = c stays within the circle of radius ; indeed, it stays within the closed curve V (x, y) = c itself. Thus the origin is a stable critical point. To show this, recall from calculus that the vector V (x, y) = Vx (x, y)i + Vy (x, y)j,
(9)
known as the gradient of V , is normal to the curve V (x, y) = c and points in the direction of increasing V . In the present case, V increases outward from the origin, so V points away from the origin, as indicated in Figure 9.6.1b. Next, consider a trajectory x = φ(t), y = ψ(t) of the system (6), and recall that the vector T(t) = φ (t)i + ψ (t)j is tangent to the trajectory at each point; see Figure 9.6.1b. Let x1 = φ(t1 ), y1 = ψ(t1 ) be a point of intersection of the trajectory and a closed curve V (x, y) = c. At this point φ (t1 ) = F(x1 , y1 ), ψ (t1 ) = G(x1 , y1 ), so from Eq. (7) we obtain Vⴢ (x1 , y1 ) = Vx (x1 , y1 )φ (t1 ) + Vy (x1 , y1 )ψ (t1 ) = [Vx (x1 , y1 )i + Vy (x1 , y1 )j] ⴢ [φ (t1 )i + ψ (t1 )j] = V (x1 , y1 ) ⴢ T(t1 ).
(10)
Thus Vⴢ (x1 , y1 ) is the scalar product of the vector V (x1 , y1 ) and the vector T(t1 ). Since Vⴢ (x1 , y1 ) ≤ 0, it follows that the cosine of the angle between V (x1 , y1 ) and T(t1 ) is also less than or equal to zero; hence the angle itself is in the range [π/2, 3π/2]. Thus the direction of motion on the trajectory is inward with respect to V (x1 , y1 ) = c or, at worst, tangent to this curve. Trajectories starting inside a closed curve V (x1 , y1 ) = c (no matter how small c is) cannot escape, so the origin is a stable point. If Vⴢ (x1 , y1 ) < 0, then the trajectories passing through points on the curve are actually pointed inward. As a consequence, it can be shown that trajectories starting sufficiently close to the origin must approach the origin; hence the origin is asymptotically stable. A geometric argument for Theorem 9.6.2 follows in a somewhat similar manner. Briefly, suppose that Vⴢ is positive definite, and suppose that given any circle about the origin there is an interior point (x1 , y1 ) at which V (x1 , y1 ) > 0. Consider a trajectory that starts at (x1 , y1 ). Along this trajectory it follows from Eq. (8) that V must increase, since Vⴢ (x1 , y1 ) > 0; furthermore, since V (x1 , y1 ) > 0, the trajectory cannot approach the origin because V (0, 0) = 0. This shows that the origin cannot be asymptotically
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Chapter 9. Nonlinear Differential Equations and Stability
stable. By further exploiting the fact that Vⴢ (x, y) > 0, it is possible to show that the origin is an unstable point; however, we will not pursue this argument.
EXAMPLE
2
Use Theorem 9.6.1 to show that (0, 0) is a stable critical point for the undamped pendulum equations (2). Also use Theorem 9.6.2 to show that (π, 0) is an unstable critical point. Let V be the total energy given by Eq. (4): V (x, y) = mgL(1 − cos x) + 12 m L 2 y 2 .
(4)
If we take D to be the domain −π/2 < x < π/2, −∞ < y < ∞, then V is positive there except at the origin, where it is zero. Thus V is positive definite on D. Further, as we have already seen, Vⴢ = (mgL sin x)(y) + (m L 2 y)(−g sin x)/L = 0
for all x and y. Thus Vⴢ is negative semidefinite on D. Consequently, by the last statement in Theorem 9.6.1, the origin is a stable critical point for the undamped pendulum. Observe that this conclusion cannot be obtained from Theorem 9.3.2 because (0, 0) is a center for the corresponding linear system. Now consider the critical point (π, 0). The Liapunov function given by Eq. (4) is no longer suitable because Theorem 9.6.2 calls for a function V for which Vⴢ is either positive or negative definite. To analyze the point (π, 0) it is convenient to move this point to the origin by the change of variables x = π + u, y = v. Then the differential equations (2) become g sin u, (11) du/dt = v, dv/dt = L and the critical point is (0, 0) in the uv-plane. Consider the function V (u, v) = v sin u
(12)
and let D be the domain −π/4 < u < π/4, −∞ < v < ∞. Then
Vⴢ = (v cos u)(v) + (sin u)[(g/L) sin u] = v 2 cos u + (g/L) sin2 u
(13)
is positive definite in D. The only remaining question is whether there are points in every neighborhood of the origin where V itself is positive. From Eq. (12) we see that V (u, v) > 0 in the first quadrant (where both sin u and v are positive) and in the third quadrant (where both are negative). Thus the conditions of Theorem 9.6.2 are satisfied and the point (0, 0) in the uv-plane, or the point (π, 0) in the x y-plane, is unstable. The damped pendulum equations are discussed in Problem 7.
From a practical point of view we are often more interested in the basin of attraction. The following theorem provides some information on this subject.
Theorem 9.6.3
Let the origin be an isolated critical point of the autonomous system (6). Let the function V be continuous and have continuous first partial derivatives. If there is a bounded domain D K containing the origin where V (x, y) < K , V is positive definite,
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9.6 Liapunov’s Second Method
and Vⴢ is negative definite, then every solution of Eqs. (6) that starts at a point in D K approaches the origin as t approaches infinity. In other words, Theorem 9.6.3 says that if x = φ(t), y = ψ(t) is the solution of Eqs. (6) for initial data lying in D K , then (x, y) approaches the critical point (0, 0) as t → ∞. Thus D K gives a region of asymptotic stability; of course, it may not be the entire basin of attraction. This theorem is proved by showing that (i) there are no periodic solutions of the system (6) in D K , and (ii) there are no other critical points in D K . It then follows that trajectories starting in D K cannot escape and, therefore, must tend to the origin as t tends to infinity. Theorems 9.6.1 and 9.6.2 give sufficient conditions for stability and instability, respectively. However, these conditions are not necessary, nor does our failure to determine a suitable Liapunov function mean that there is not one. Unfortunately, there are no general methods for the construction of Liapunov functions; however, there has been extensive work on the construction of Liapunov functions for special classes of equations. An elementary algebraic result that is often useful in constructing positive definite or negative definite functions is stated without proof in the following theorem.
Theorem 9.6.4
The function V (x, y) = ax 2 + bx y + cy 2
(14)
is positive definite if, and only if, a>0
and 4ac − b2 > 0,
(15)
and is negative definite if, and only if, a < 0 and 4ac − b2 > 0.
(16)
The use of Theorem 9.6.4 is illustrated in the following example.
Show that the critical point (0, 0) of the autonomous system EXAMPLE
3
dx/dt = −x − x y 2 ,
dy/dt = −y − x 2 y
(17)
is asymptotically stable. We try to construct a Liapunov function of the form (14). Then Vx (x, y) = 2ax + by, Vy (x, y) = bx + 2cy, so Vⴢ (x, y) = (2ax + by)(−x − x y 2 ) + (bx + 2cy)(−y − x 2 y) = −[2a(x 2 + x 2 y 2 ) + b(2x y + x y 3 + x 3 y) + 2c(y 2 + x 2 y 2 )]. If we choose b = 0, and a and c to be any positive numbers, then Vⴢ is negative definite and V is positive definite by Theorem 9.6.4. Thus by Theorem 9.6.1 the origin is an asymptotically stable critical point.
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Chapter 9. Nonlinear Differential Equations and Stability
Consider the system EXAMPLE
dx/dt = x(1 − x − y),
4
dy/dt = y(0.75 − y − 0.5x).
(18)
In Example 1 of Section 9.4 we found that this system models a certain pair of competing species, and that the critical point (0.5, 0.5) is asymptotically stable. Confirm this conclusion by finding a suitable Liapunov function. It is helpful to transform the point (0.5, 0.5) to the origin. To this end let x = 0.5 + u,
y = 0.5 + v.
(19)
Then, substituting for x and y in Eqs. (18), we obtain the new system du/dt = −0.5u − 0.5v − u 2 − uv, dv/dt = −0.25u − 0.5v − 0.5uv − v 2 .
(20)
To keep the calculations relatively simple, consider the function V (u, v) = u 2 + v 2 as a possible Liapunov function. This function is clearly positive definite, so we only need to determine whether there is a region containing the origin in the uv-plane where the derivative Vⴢ with respect to the system (20) is negative definite. We compute Vⴢ (u, v) and find that du dv Vⴢ (u, v) = Vu + Vv dt dt = 2u(−0.5u − 0.5v − u 2 − uv) + 2v(−0.25u − 0.5v − 0.5uv − v 2 ), or Vⴢ (u, v) = −[(u 2 + 1.5uv + v 2 ) + (2u 3 + 2u 2 v + uv 2 + 2v 3 )],
(21)
where we have collected together the quadratic and cubic terms. We want to show that the expression in square brackets in Eq. (21) is positive definite, at least for u and v sufficiently small. Observe that the quadratic terms can be written as u 2 + 1.5uv + v 2 = 0.25(u 2 + v 2 ) + 0.75(u + v)2 ,
(22)
so these terms are positive definite. On the other hand, the cubic terms in Eq. (18) may be of either sign. Thus we must show that, in some neighborhood of u = 0, v = 0, the cubic terms are smaller in magnitude than the quadratic terms; that is, |2u 3 + 2u 2 v + uv 2 + 2v 3 | < 0.25(u 2 + v 2 ) + 0.75(u + v)2 .
(23)
To estimate the left side of Eq. (23) we introduce polar coordinates u = r cos θ, v = r sin θ. Then |2u 3 + 2u 2 v + uv 2 + 2v 3 | = r 3 |2 cos3 θ + 2 cos2 θ sin θ + cos θ sin2 θ + 2 sin3 θ| ≤ r 3 [2| cos3 θ| + 2 cos2 θ| sin θ| + | cos θ| sin2 θ + 2| sin3 θ|] ≤ 7r 3 , since | sin θ|, | cos θ| ≤ 1. To satisfy Eq. (23) it is now certainly sufficient to satisfy the more stringent requirement 7r 3 < 0.25(u 2 + v 2 ) = 0.25r 2 ,
519
9.6 Liapunov’s Second Method
which yields r < 1/28. Thus, at least in this disk, the hypotheses of Theorem 9.6.1 are satisfied, so the origin is an asymptotically stable critical point of the system (20). The same is then true of the critical point (0.5, 0.5) of the original system (18). If we refer to Theorem 9.6.3, the preceding argument also shows that the disk with center (0.5, 0.5) and radius 1/28 is a region of asymptotic stability for the system (18). This is a severe underestimate of the full basin of attraction, as the discussion in Section 9.4 shows. To obtain a better estimate of the actual basin of attraction from Theorem 9.6.3, one would have to estimate the terms in Eq. (23) more accurately, use a better (and presumably more complicated) Liapunov function, or both.
PROBLEMS
In each of Problems 1 through 4 construct a suitable Liapunov function of the form ax 2 + cy 2 , where a and c are to be determined. Then show that the critical point at the origin is of the indicated type. 1. 2. 3. 4. 5.
d x/dt = −x 3 + x y 2 , dy/dt = −2x 2 y − y 3 ; asymptotically stable 2 1 3 d x/dt = − 2 x + 2x y , dy/dt = −y 3 ; asymptotically stable d x/dt = −x 3 + 2y 3 , dy/dt = −2x y 2 ; stable (at least) d x/dt = x 3 − y 3 , dy/dt = 2x y 2 + 4x 2 y + 2y 3 ; unstable Consider the system of equations d x/dt = y − x f (x, y),
dy/dt = −x − y f (x, y),
where f is continuous and has continuous first partial derivatives. Show that if f (x, y) > 0 in some neighborhood of the origin, then the origin is an asymptotically stable critical point, and if f (x, y) < 0 in some neighborhood of the origin, then the origin is an unstable critical point. Hint: Construct a Liapunov function of the form c(x 2 + y 2 ). 6. A generalization of the undamped pendulum equation is d 2 u/dt 2 + g(u) = 0,
(i)
where g(0) = 0, g(u) > 0 for 0 < u < k, and g(u) < 0 for −k < u < 0; that is, ug(u) > 0 for u = 0, −k < u < k. Notice that g(u) = sin u has this property on (−π/2, π/2). (a) Letting x = u, y = du/dt, write Eq. (i) as a system of two equations, and show that x = 0, y = 0 is a critical point. (b) Show that V (x, y) = 12 y 2 +
x 0
g(s) ds,
−k < x < k
(ii)
is positive definite, and use this result to show that the critical point (0, 0) is stable. Note that the Liapunov function V given by Eq. (ii) corresponds to the energy function V (x, y) = 1 2 y + (1 − cos x) for the case g(u) = sin u. 2 7. By introducing suitable dimensionless variables, the system of nonlinear equations for the damped pendulum [Eqs. (8) of Section 9.3] can be written as d x/dt = y,
dy/dt = −y − sin x.
(a) Show that the origin is a critical point. (b) Show that while V (x, y) = x 2 + y 2 is positive definite, Vⴢ (x, y) takes on both positive and negative values in any domain containing the origin, so that V is not a Liapunov function. Hint: x − sin x > 0 for x > 0 and x − sin x < 0 for x < 0. Consider these cases with y positive but y so small that y 2 can be ignored compared to y.
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Chapter 9. Nonlinear Differential Equations and Stability
(c) Using the energy function V (x, y) = 12 y 2 + (1 − cos x) mentioned in Problem 6(b), show that the origin is a stable critical point. Note, however, that even though there is damping and we can expect that the origin is asymptotically stable, it is not possible to draw this conclusion using this Liapunov function. (d) To show asymptotic stability it is necessary to construct a better Liapunov function than the one used in part (c). Show that V (x, y) = 12 (x + y)2 + x 2 + 12 y 2 is such a Liapunov function, and conclude that the origin is an asymptotically stable critical point. Hint: From Taylor’s formula with a remainder it follows that sin x = x − αx 3 /3!, where α depends on x but 0 < α < 1 for −π/2 < x < π/2. Then letting x = r cos θ , y = r sin θ , show that Vⴢ (r cos θ, r sin θ ) = −r 2 [1 + h(r, θ )], where |h(r, θ )| < 1 if r is sufficiently small. 8. The Li´enard equation (Problem 28 of Section 9.3) is d 2u du + c(u) + g(u) = 0, 2 dt dt where g satisfies the conditions of Problem 6 and c(u) ≥ 0. Show that the point u = 0, du/dt = 0 is a stable critical point. 9. (a) A special case of the Li´enard equation of Problem 8 is du d 2u + + g(u) = 0, 2 dt dt where g satisfies the conditions of Problem 6. Letting x = u, y = du/dt, show that the origin is a critical point of the resulting system. This equation can be interpreted as describing the motion of a spring–mass system with damping proportional to the velocity and a nonlinear restoring force. Using the Liapunov function of Problem 6, show that the origin is a stable critical point, but note that even with damping we cannot conclude asymptotic stability using this Liapunov function. (b) Asymptotic stability of the critical point (0, 0) can be shown by constructing a better Liapunov function as was done in part (d) of Problem 7. However, the analysis for a general function g is somewhat sophisticated and we only mention that an appropriate form for V is x g(s) ds, V (x, y) = 12 y 2 + Ayg(x) + 0
where A is a positive constant to be chosen so that V is positive definite and Vⴢ is negative definite. For the pendulum problem [g(x) = sin x] use V as given by the preceding equation with A = 12 to show that the origin is asymptotically stable. Hint: Use sin x = x − αx 3 /3! and cos x = 1 − βx 2 /2! where α and β depend on x, but 0 < α < 1 and 0 < β < 1 for −π/2 < x < π/2; let x = r cos θ , y = r sin θ , and show that Vⴢ (r cos θ, r sin θ ) = − 12 r 2 [1 + 12 sin 2θ + h(r, θ )], where |h(r, θ )| < 12 if r is sufficiently small. To show that V is positive definite use cos x = 1 − x 2 /2 + γ x 4 /4!, where γ depends on x, but 0 < γ < 1 for −π/2 < x < π/2. In Problems 10 and 11 we will prove part of Theorem 9.3.2: If the critical point (0, 0) of the almost linear system d x/dt = a11 x + a12 y + F1 (x, y),
dy/dt = a21 x + a22 y + G 1 (x, y)
(i)
is an asymptotically stable critical point of the corresponding linear system d x/dt = a11 x + a12 y,
dy/dt = a21 x + a22 y,
(ii)
then it is an asymptotically stable critical point of the almost linear system (i). Problem 12 deals with the corresponding result for instability.
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9.7 Periodic Solutions and Limit Cycles
10. Consider the linear system (ii). (a) Since (0, 0) is an asymptotically stable critical point, show that a11 + a22 < 0 and a11 a22 − a12 a21 > 0. (See Problem 21 of Section 9.1.) (b) Construct a Liapunov function V (x, y) = Ax 2 + Bx y + C y 2 such that V is positive definite and Vⴢ is negative definite. One way to ensure that Vⴢ is negative definite is to choose A, B, and C so that Vⴢ (x, y) = −x 2 − y 2 . Show that this leads to the result 2 2 + a22 + (a11 a22 − a12 a21 ) a a + a11 a21 a21 , B = 12 22 , 2 2 2 a + a12 + (a11 a22 − a12 a21 ) , C = − 11 2 where = (a11 + a22 )(a11 a22 − a12 a21 ). (c) Using the result of part (a) show that A > 0 and then show (several steps of algebra are required) that
A=−
4AC − B 2 =
2 2 2 2 (a11 + a12 + a21 + a22 )(a11 a22 − a12 a21 ) + 2(a11 a22 − a12 a21 )2
2
> 0.
Thus by Theorem 9.6.4, V is positive definite. 11. In this problem we show that the Liapunov function constructed in the preceding problem is also a Liapunov function for the almost linear system (i). We must show that there is some region containing the origin for which Vⴢ is negative definite. (a) Show that Vⴢ (x, y) = −(x 2 + y 2 ) + (2Ax + By)F1 (x, y) + (Bx + 2C y)G 1 (x, y). (b) Recall that F1 (x, y)/r → 0 and G 1 (x, y)/r → 0 as r = (x 2 + y 2 )1/2 → 0. This means that given any > 0 there exists a circle r = R about the origin such that for 0 < r < R, |F1 (x, y)| < r , and |G 1 (x, y)| < r . Letting M be the maximum of |2A|, |B|, and |2C|, show by introducing polar coordinates that R can be chosen so that Vⴢ (x, y) < 0 for r < R. Hint: Choose sufficiently small in terms of M. 12. In this problem we prove a part of Theorem 9.3.2 relating to instability. (a) Show that if a11 + a22 > 0 and a11 a22 − a12 a21 > 0, then the critical point (0, 0) of the linear system (ii) is unstable. (b) The same result holds for the almost linear system (i). As in Problems 10 and 11 construct a positive definite function V such that Vⴢ (x, y) = x 2 + y 2 and hence is positive definite, and then invoke Theorem 9.6.2.
9.7 Periodic Solutions and Limit Cycles ODE
In this section we discuss further the possible existence of periodic solutions of second order autonomous systems x = f(x).
(1)
x(t + T ) = x(t)
(2)
Such solutions satisfy the relation
ODE
522
Chapter 9. Nonlinear Differential Equations and Stability
for all t and for some nonnegative constant T called the period. The corresponding trajectories are closed curves in the phase plane. Periodic solutions often play an important role in physical problems because they represent phenomena that occur repeatedly. In many situations a periodic solution represents a “final state” toward which all “neighboring” solutions tend as the transients due to the initial conditions die out. A special case of a periodic solution is a constant solution x = x0 , which corresponds to a critical point of the autonomous system. Such a solution is clearly periodic with any period. In this section, when we speak of a periodic solution, we mean a nonconstant periodic solution. In this case the period T is positive and is usually chosen as the smallest positive number for which Eq. (2) is valid. Recall that the solutions of the linear autonomous system x = Ax
(3)
are periodic if and only if the eigenvalues of A are pure imaginary. In this case the critical point at the origin is a center, as discussed in Section 9.1. We emphasize that if the eigenvalues of A are pure imaginary, then every solution of the linear system (3) is periodic; while if the eigenvalues are not pure imaginary, then there are no (nonconstant) periodic solutions. The predator–prey equations discussed in Section 9.5, although nonlinear, behave similarly: All solutions in the first quadrant are periodic. The following example illustrates a different way in which periodic solutions of nonlinear autonomous systems can occur.
EXAMPLE
1
Discuss the solutions of the system x y + x − x(x 2 + y 2 ) . = y −x + y − y(x 2 + y 2 )
(4)
It is not difficult to show that (0, 0) is the only critical point of the system (4), and also that the system is almost linear in the neighborhood of the origin. The corresponding linear system 1 1 x x = (5) −1 1 y y has eigenvalues 1 ± i. Therefore the origin is an unstable spiral point for both the linear system (5) and the nonlinear system (4). Thus any solution that starts near the origin in the phase plane will spiral away from the origin. Since there are no other critical points, we might think that all solutions of Eqs. (4) correspond to trajectories that spiral out to infinity. However, we now show that this is incorrect because far away from the origin the trajectories are directed inward. It is convenient to introduce polar coordinates r and θ, where x = r cos θ,
y = r sin θ,
(6)
and r ≥ 0. If we multiply the first of Eqs. (4) by x, the second by y, and add, we then obtain dy dx (7) +y = (x 2 + y 2 ) − (x 2 + y 2 )2 . x dt dt
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9.7 Periodic Solutions and Limit Cycles
Since r 2 = x 2 + y 2 and r (dr/dt) = x(dx/dt) + y(dy/dt), it follows from Eq. (7) that r
dr = r 2 (1 − r 2 ). dt
(8)
This is similar to the equations discussed in Section 2.5. The critical points (for r ≥ 0) are the origin and the point r = 1, which corresponds to the unit circle in the phase plane. From Eq. (8) it follows that dr/dt > 0 if r < 1 and dr/dt < 0 if r > 1. Thus, inside the unit circle the trajectories are directed outward, while outside the unit circle they are directed inward. Apparently, the circle r = 1 is a limiting trajectory for this system. To determine an equation for θ we multiply the first of Eqs. (4) by y, the second by x, and subtract, obtaining y
dy dx −x = x 2 + y2. dt dt
(9)
Upon calculating dx/dt and dy/dt from Eqs. (6), we find that the left side of Eq. (9) is −r 2 (dθ/dt), so Eq. (9) reduces to dθ = −1. dt
(10)
The system of equations (8), (10) for r and θ is equivalent to the original system (4). One solution of the system (8), (10) is r = 1,
θ = −t + t0 ,
(11)
where t0 is an arbitrary constant. As t increases, a point satisfying Eqs. (11) moves clockwise around the unit circle. Thus the autonomous system (4) has a periodic solution. Other solutions can be obtained by solving Eq. (8) by separation of variables; if r = 0 and r = 1, then dr = dt. r (1 − r 2 )
(12)
Equation (12) can be solved by using partial fractions to rewrite the left side and then integrating. By performing these calculations we find that the solution of Eqs. (10) and (12) is 1 , r=
1 + c0 e−2t
θ = −t + t0 ,
(13)
where c0 and t0 are arbitrary constants. The solution (13) also contains the solution (11), which is obtained by setting c0 = 0 in the first of Eqs. (13). The solution satisfying the initial conditions r = ρ, θ = α at t = 0 is given by 1 r= , 1 + [(1/ρ 2 ) − 1]e−2t
θ = −(t − α).
(14)
If ρ < 1, then r → 1 from the inside as t → ∞; if ρ > 1, then r → 1 from the outside as t → ∞. Thus in all cases the trajectories spiral toward the circle r = 1 as t → ∞. Several trajectories are shown in Figure 9.7.1.
524
Chapter 9. Nonlinear Differential Equations and Stability y
1
–1
1
x
–1
FIGURE 9.7.1 Trajectories of the system (4); a limit cycle.
In this example the circle r = 1 not only corresponds to periodic solutions of the system (4), but, in addition, other nonclosed trajectories spiral toward it as t → ∞. In general, a closed trajectory in the phase plane such that other nonclosed trajectories spiral toward it, either from the inside or the outside, as t → ∞, is called a limit cycle. Thus the circle r = 1 is a limit cycle for the system (4). If all trajectories that start near a closed trajectory (both inside and outside) spiral toward the closed trajectory as t → ∞, then the limit cycle is asymptotically stable. Since the limiting trajectory is itself a periodic orbit rather than an equilibrium point, this type of stability is often called orbital stability. If the trajectories on one side spiral toward the closed trajectory, while those on the other side spiral away as t → ∞, then the limit cycle is said to be semistable. If the trajectories on both sides of the closed trajectory spiral away as t → ∞, then the closed trajectory is unstable. It is also possible to have closed trajectories that other trajectories neither approach nor depart from, for example, the periodic solutions of the predator–prey equations in Section 9.5. In this case the closed trajectory is stable. In Example 1 the existence of an asymptotically stable limit cycle was established by solving the equations explicitly. Unfortunately, this is usually not possible, so it is worthwhile to know general theorems concerning the existence or nonexistence of limit cycles of nonlinear autonomous systems. In discussing these theorems it is convenient to rewrite the system (1) in the scalar form dx/dt = F(x, y),
Theorem 9.7.1
dy/dt = G(x, y).
(15)
Let the functions F and G have continuous first partial derivatives in a domain D of the x y-plane. A closed trajectory of the system (15) must necessarily enclose at least one critical (equilibrium) point. If it encloses only one critical point, the critical point cannot be a saddle point.
9.7 Periodic Solutions and Limit Cycles
525
Although we omit the proof of this theorem, it is easy to show examples of it. One is given by Example 1 and Figure 9.7.1 in which the closed trajectory encloses the critical point (0, 0), a spiral point. Another example is the system of predator–prey equations in Section 9.5; see Figure 9.5.2. Each closed trajectory surrounds the critical point (3, 2); in this case the critical point is a center. Theorem 9.7.1 is also useful in a negative sense. If a given region contains no critical points, then there can be no closed trajectory lying entirely in the region. The same conclusion is true if the region contains only one critical point, and this point is a saddle point. For instance, in Example 2 of Section 9.4, an example of competing species, the only critical point in the interior of the first quadrant is the saddle point (0.5, 0.5). Therefore this system has no closed trajectory lying in the first quadrant. A second result about the nonexistence of closed trajectories is given in the following theorem.
Theorem 9.7.2
Let the functions F and G have continuous first partial derivatives in a simply connected domain D of the x y-plane. If Fx + G y has the same sign throughout D, then there is no closed trajectory of the system (15) lying entirely in D. A simply connected two-dimensional domain is one with no holes. Theorem 9.7.2 is a straightforward consequence of Green’s theorem in the plane; see Problem 13. Note that if Fx + G y changes sign in the domain, then no conclusion can be drawn; there may or may not be closed trajectories in D. To illustrate Theorem 9.7.2 consider the system (4). A routine calculation shows that Fx (x, y) + G y (x, y) = 2 − 4(x 2 + y 2 ) = 2(1 − 2r 2 ),
(16)
√ where, as usual, r 2 = x 2 + y 2 . Hence Fx + G y is positive for 0 ≤ r < 1/ 2, so there is no closed trajectory in this circular disk. Of course, we showed in Example 1 that there is no closed trajectory in the larger region r < 1. This illustrates that the information given by Theorem 9.7.2 may not be√ the best possible result. Again referring to Eq. (16), note that Fx + G y < 0 for r > 1/ 2. However, the theorem is not applicable in this case because this annular region is not simply connected. Indeed, as shown in Example 1, it does contain a limit cycle. The following theorem gives conditions that guarantee the existence of a closed trajectory.
Theorem 9.7.3
(Poincare´–Bendixson6 Theorem). Let the functions F and G have continuous first partial derivatives in a domain D of the x y-plane. Let D1 be a bounded subdomain in D, and let R be the region that consists of D1 plus its boundary (all points of R are in D). Suppose that R contains no critical point of the system (15). If there exists a constant t0 such that x = φ(t), y = ψ(t) is a solution of the system (15) that exists and stays in R for all t ≥ t0 , then either x = φ(t), y = ψ(t) is a periodic 6
Ivar Otto Bendixson (1861–1935) was a Swedish mathematician. This theorem appeared in a paper published by him in Acta Mathematica in 1901.
526
Chapter 9. Nonlinear Differential Equations and Stability
solution (closed trajectory), or x = φ(t), y = ψ(t) spirals toward a closed trajectory as t → ∞. In either case, the system (15) has a periodic solution in R. Note that if R does contain a closed trajectory, then necessarily, by Theorem 9.7.1, this trajectory must enclose a critical point. However, this critical point cannot be in R. Thus R cannot be simply connected; it must have a hole. As an application of the Poincar´e–Bendixson theorem, consider again the system (4). Since the origin is a critical point, it must be excluded. For instance, we can consider the region R defined by 0.5 ≤ r ≤ 2. Next, we must show that there is a solution whose trajectory stays in R for all t greater than or equal to some t0 . This follows immediately from Eq. (8). For r = 0.5, dr/dt > 0, so r increases, while for r = 2, dr/dt < 0, so r decreases. Thus any trajectory that crosses the boundary of R is entering R. Consequently, any solution of Eqs. (4) that starts in R at t = t0 cannot leave but must stay in R for t > t0 . Of course, other numbers could be used instead of 0.5 and 2; all that is important is that r = 1 is included. One should not infer from this discussion of the preceding theorems that it is easy to determine whether a given nonlinear autonomous system has periodic solutions or not; often it is not a simple matter at all. Theorems 9.7.1 and 9.7.2 are frequently inconclusive, while for Theorem 9.7.3 it is often difficult to determine a region R and a solution that always remains within it. We close this section with another example of a nonlinear system that has a limit cycle.
The van der Pol (1889–1959) equation EXAMPLE
2
u
− µ(1 − u 2 )u + u = 0,
(17)
where µ is a positive constant, describes the current u in a triode oscillator. Discuss the solutions of this equation. If µ = 0, Eq. (17) reduces to u
+ u = 0, whose solutions are sine or cosine waves of period 2π. For µ > 0 the second term on the left side of Eq. (17) must also be considered. This is the resistance term, proportional to u , with a coefficient −µ(1 − u 2 ) that depends on u. For large u this term is positive and acts as usual to reduce the amplitude of the response. However, for small u the resistance term is negative and so causes the response to grow. This suggests that perhaps there is a solution of intermediate size that other solutions approach as t increases. To analyze Eq. (17) more carefully we write it as a second order system by introducing the variables x = u, y = u . Then it follows that x = y,
y = −x + µ(1 − x 2 )y.
(18)
The only critical point of the system (18) is the origin. Near the origin the corresponding linear system is 0 1 x x = , (19) −1 µ y y whose eigenvalues are (µ ± µ2 − 4)/2. Thus the origin is an unstable spiral point for 0 < µ < 2 and an unstable node for µ ≥ 2. In all cases, a solution that starts near the origin grows as t increases.
527
9.7 Periodic Solutions and Limit Cycles
With regard to periodic solutions Theorems 9.7.1 and 9.7.2 provide only partial information. From Theorem 9.7.1 we conclude that if there are closed trajectories, they must enclose the origin. Next, we calculate Fx (x, y) + G y (x, y), with the result that Fx (x, y) + G y (x, y) = µ(1 − x 2 ).
(20)
Then, it follows from Theorem 9.7.2 that closed trajectories, if there are any, are not contained in the strip |x| < 1 where Fx + G y > 0. The application of the Poincar´e–Bendixson theorem to this problem is not nearly as simple as for the preceding example. If we introduce polar coordinates, we find that the equation for the radial variable r is r = µ(1 − r 2 cos2 θ)r sin2 θ.
(21)
Again, consider an annular region R given by r1 ≤ r ≤ r2 , where r1 is small and r2 is large. When r = r1 , the linear term on the right side of Eq. (21) dominates, and r > 0 except on the x-axis, where sin θ = 0 and consequently r = 0 also. Thus, trajectories are entering R at every point on the circle r = r1 except possibly for those on the x-axis, where the trajectories are tangent to the circle. When r = r2 , the cubic term on the right side of Eq. (21) is the dominant one. Thus r < 0 except for points on the x-axis where r = 0 and for points near the y-axis where r 2 cos2 θ < 1 and the linear term makes r > 0. Thus, no matter how large a circle is chosen, there will be points on it (namely, the points on or near the y-axis) where trajectories are leaving R. Therefore, the Poincare´–Bendixson theorem is not applicable unless we consider more complicated regions. It is possible to show, by a more intricate analysis, that the van der Pol equation does have a unique limit cycle. However, we will not follow this line of argument further, but turn instead to a different approach in which we plot numerically computed solutions. Experimental observations indicate that the van der Pol equation has a stable periodic solution whose period and amplitude depend on the parameter µ. By looking at graphs of trajectories in the phase plane and of u versus t we can gain some understanding of this periodic behavior. Figure 9.7.2 shows two trajectories of the van der Pol equation in the phase plane for µ = 0.2. The trajectory starting near the origin spirals outward in the clockwise
y
2 1
2
–2
x
–1 –2
FIGURE 9.7.2 Trajectories of the van der Pol equation (17) for µ = 0.2.
528
Chapter 9. Nonlinear Differential Equations and Stability u 2 1 10
20
30
50 t
40
–1 –2
FIGURE 9.7.3 Plots of u versus t for the trajectories in Figure 9.7.2.
direction; this is consistent with the behavior of the linear approximation near the origin. The other trajectory passes through (−3, 2) and spirals inward, again in the clockwise direction. Both trajectories approach a closed curve that corresponds to a stable periodic solution. In Figure 9.7.3 we show the plots of u versus t for the solutions corresponding to the trajectories in Figure 9.7.2. The solution that is initially smaller gradually increases in amplitude, while the larger solution gradually decays. Both solutions approach a stable periodic motion that corresponds to the limit cycle. Figure 9.7.3 also shows that there is a phase difference between the two solutions as they approach the limit cycle. The plots of u versus t are nearly sinusoidal in shape, consistent with the nearly circular limit cycle in this case. Figures 9.7.4 and 9.7.5 show similar plots for the case µ = 1. Trajectories again move clockwise in the phase plane, but the limit cycle is considerably different from a
y
2
1
–2
–1
1
2
x
–1
–2
FIGURE 9.7.4 Trajectories of the van der Pol equation (17) for µ = 1.
529
9.7 Periodic Solutions and Limit Cycles u 2 1
10
20
30
40
t
–1 –2
FIGURE 9.7.5 Plots of u versus t for the trajectories in Figure 9.7.4.
circle. The plots of u versus t tend more rapidly to the limiting oscillation, and again show a phase difference. The oscillations are somewhat less symmetric in this case, rising somewhat more steeply than they fall. Figure 9.7.6 shows the phase plane for µ = 5. The motion remains clockwise, and the limit cycle is even more elongated, especially in the y direction. In Figure 9.7.7 is a plot of u versus t. Although the solution starts far from the limit cycle, the limiting oscillation is virtually reached in a fraction of a period. Starting from one of its extreme values on the x-axis in the phase plane, the solution moves toward the other extreme position slowly at first, but once a certain point on the trajectory is reached, the remainder of the transition is completed very swiftly. The process is then repeated
y 10
5
–2
2
t
–5
–10
FIGURE 9.7.6 Trajectories of the van der Pol equation (17) for µ = 5.
530
Chapter 9. Nonlinear Differential Equations and Stability u
2 1
10
20
30
40
t
–1 –2
FIGURE 9.7.7 Plot of u versus t for the outward spiralling trajectory in Figure 9.7.6.
in the opposite direction. The waveform of the limit cycle, as shown in Figure 9.7.7, is quite different from a sine wave. These graphs clearly show that, in the absence of external excitation, the van der Pol oscillator has a certain characteristic mode of vibration for each value of µ. The graphs of u versus t show that the amplitude of this oscillation changes very little with µ, but the period increases as µ increases. At the same time, the waveform changes from one that is very nearly sinusoidal to one that is much less smooth. The presence of a single periodic motion that attracts all (nearby) solutions, that is, a stable limit cycle, is one of the characteristic phenomena associated with nonlinear differential equations.
PROBLEMS
In each of Problems 1 through 6 an autonomous system is expressed in polar coordinates. Determine all periodic solutions, all limit cycles, and determine their stability characteristics. 1. 2. 3. 4. 5. 6. 7. 8.
dθ/dt = 1 dr/dt = r 2 (1 − r 2 ), dθ/dt = −1 dr/dt = r (1 − r )2 , dr/dt = r (r − 1)(r − 3), dθ/dt = 1 dr/dt = r (1 − r )(r − 2), dθ/dt = −1 dr/dt = sin πr, dθ/dt = 1 dr/dt = r |r − 2|(r − 3), dθ/dt = −1 If x = r cos θ , y = r sin θ , show that y(d x/dt) − x(dy/dt) = −r 2 (dθ/dt). (a) Show that the system d x/dt = −y + x f (r )/r,
dy/dt = x + y f (r )/r
has periodic solutions corresponding to the zeros of f (r ). What is the direction of motion on the closed trajectories in the phase plane? (b) Let f (r ) = r (r − 2)2 (r 2 − 4r + 3). Determine all periodic solutions and determine their stability characteristics. 9. Determine the periodic solutions, if any, of the system dx x (x 2 + y 2 − 2), =y+ dt x 2 + y2
dy y (x 2 + y 2 − 2). = −x + dt x 2 + y2
531
9.7 Periodic Solutions and Limit Cycles
10. Using Theorem 9.7.2, show that the linear autonomous system d x/dt = a11 x + a12 y,
dy/dt = a21 x + a22 y
does not have a periodic solution (other than x = 0, y = 0) if a11 + a22 = 0. In each of Problems 11 and 12 show that the given system has no periodic solutions other than constant solutions. 11. d x/dt = x + y + x 3 − y 2 , dy/dt = −x + 2y + x 2 y + y 3 /3 2 12. d x/dt = −2x − 3y − x y , dy/dt = y + x 3 − x 2 y 13. Prove Theorem 9.7.2 by completing the following argument. According to Green’s theorem in the plane, if C is a sufficiently smooth simple closed curve, and if F and G are continuous and have continuous first partial derivatives, then [F(x, y) dy − G(x, y) d x] = [Fx (x, y) + G y (x, y)] d A, C
R
where C is traversed counterclockwise and R is the region enclosed by C. Assume that x = φ(t), y = ψ(t) is a solution of the system (15) that is periodic with period T . Let C be the closed curve given by x = φ(t), y = ψ(t) for 0 ≤ t ≤ T . Show that for this curve the line integral is zero. Then show that the conclusion of Theorem 9.7.2 must follow. 䉴 14. (a) By examining the graphs of u versus t in Figures 9.7.3, 9.7.5, and 9.7.7 estimate the period T of the van der Pol oscillator in these cases. (b) Calculate and plot the graphs of solutions of the van der Pol equation for other values of the parameter µ. Estimate the period T in these cases also. (c) Plot the estimated values of T versus µ. Describe how T depends on µ. 䉴 15. The equation u
− µ(1 − 13 u 2 )u + u = 0 is often called the Rayleigh equation. (a) Write the Rayleigh equation as a system of two first order equations. (b) Show that the origin is the only critical point of this system. Determine its type and whether it is stable or unstable. (c) Let µ = 1. Choose initial conditions and compute the corresponding solution of the system on an interval such as 0 ≤ t ≤ 20 or longer. Plot u versus t and also plot the trajectory in the phase plane. Observe that the trajectory approaches a closed curve (limit cycle). Estimate the amplitude A and the period T of the limit cycle. (d) Repeat part (c) for other values of µ, such as µ = 0.2, 0.5, 2, and 5. In each case estimate the amplitude A and the period T . (e) Describe how the limit cycle changes as µ increases. For example, make a table of values and/or plot A and T as functions of µ. 䉴 16. The system x = 3(x + y − 13 x 3 − k), y = − 13 (x + 0.8y − 0.7) is a special case of the Fitzhugh–Nagumo equations, which model the transmission of neural impulses along an axon. The parameter k is the external stimulus. (a) For k = 0 show that there is one critical point. Find this point and show that it is an asymptotically stable spiral point. Repeat the analysis for k = 0.5 and show that the critical point is now an unstable spiral point. Draw a phase portrait for the system in each case. (b) Find the value k0 where the critical point changes from asymptotically stable to unstable. Draw a phase portrait for the system for k = k0 . (c) For k ≥ k0 the system exhibits an asymptotically stable limit cycle. Plot x versus t for k = k0 for several periods and estimate the value of the period T . (d) The limit cycle actually exists for a small range of k below k0 . Let k1 be the smallest value of k for which there is a limit cycle. Find k1 .
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9.8 Chaos and Strange Attractors: The Lorenz Equations ODE
In principle, the methods described in this chapter for second order autonomous systems can also be applied to higher order systems as well. In practice, there are several difficulties that arise in trying to do this. One problem is that there is simply a greater number of possible cases that can occur, and the number increases with the order of the system (and the dimension of the phase space). Another is the difficulty of graphing trajectories accurately in a phase space of higher than two dimensions; even in three dimensions it may not be easy to construct a clear and understandable plot of the trajectories, and it becomes more difficult as the number of variables increases. Finally, and this has only been clearly realized in the last few years, there are different and very complex phenomena that can occur, and do frequently occur, in systems of third and higher order that are not present in second order systems. Our goal in this section is to provide a brief introduction to some of these phenomena by discussing one particular third order autonomous system that has been intensively studied in recent years. In some respects the presentation here is similar to the treatment of the logistic difference equation in Section 2.9. An important problem in meteorology, and in other applications of fluid dynamics, concerns the motion of a layer of fluid, such as the earth’s atmosphere, that is warmer at the bottom than at the top; see Figure 9.8.1. If the vertical temperature difference T is small, then there is a linear variation of temperature with altitude, but no significant motion of the fluid layer. However, if T is large enough, then the warmer air rises, displacing the cooler air above it, and a steady convective motion results. If the temperature difference increases further, then eventually the steady convective flow breaks up and a more complex and turbulent motion ensues. While investigating this phenomenon, Edward N. Lorenz7 was led (by a process too involved to describe here) to the nonlinear autonomous third order system dx/dt = σ (−x + y), dy/dt = r x − y − x z, dz/dt = −bz + x y.
(1)
Equations (1) are now commonly referred to as the Lorenz equations8. Observe that the second and third equations involve quadratic nonlinearities. However, except for being Temperature difference ∆T Cooler
Warmer
FIGURE 9.8.1 A layer of fluid heated from below. 7
Edward N. Lorenz (1917– ), American meteorologist, received his Ph.D. from the Massachusetts Institute of Technology in 1948 and has been associated with that institution throughout his scientific career. The Lorenz equations were first studied by him in a famous paper published in 1963 dealing with the stability of fluid flows in the atmosphere. 8 A very thorough treatment of the Lorenz equations appears in the book by Sparrow listed in the references at the end of the chapter.
533
9.8 Chaos and Strange Attractors: The Lorenz Equations
a third order system, superficially the Lorenz equations appear no more complicated than the competing species or predator–prey equations discussed in Sections 9.4 and 9.5. The variable x in Eqs. (1) is related to the intensity of the fluid motion, while the variables y and z are related to the temperature variations in the horizontal and vertical directions. The Lorenz equations also involve three parameters σ , r , and b, all of which are real and positive. The parameters σ and b depend on the material and geometrical properties of the fluid layer. For the earth’s atmosphere reasonable values of these parameters are σ = 10 and b = 8/3; they will be assigned these values in much of what follows in this section. The parameter r , on the other hand, is proportional to the temperature difference T , and our purpose is to investigate how the nature of the solutions of Eqs. (1) changes with r . The first step in analyzing the Lorenz equations is to locate the critical points by solving the algebraic system σ x − σ y = 0, r x − y − x z = 0, −bz + x y = 0.
(2)
From the first equation we have y = x. Then, eliminating y from the second and third equations, we obtain x(r − 1 − z) = 0, −bz + x 2 = 0.
(3) (4)
One way to satisfy Eq. (3) is to choose x = 0. Then it follows that y = 0 and, from Eq. (4), z = 0. Alternatively, we can satisfy Eq. (3)√by choosing z = r − 1. Then Eq. (4) √ requires that x = ± b(r − 1) and then y = ± b(r − 1) also. Observe that these expressions for x and y are real only when r ≥ 1. Thus (0, 0, 0), which we will denote by P1 , is a critical point for all values of r , and it is the only critical point√for r < 1. However, when r > 1, there √ √ are also two √ other critical points, namely, ( b(r − 1), b(r − 1), r − 1) and (− b(r − 1), − b(r − 1), r − 1). We will denote the latter two points by P2 and P3 , respectively. Note that all three critical points coincide when r = 1. As r increases through the value 1, the critical point P1 at the origin bifurcates and the critical points P2 and P3 come into existence. Next we will determine the local behavior of solutions in the neighborhood of each critical point. Although much of the following analysis can be carried out for arbitrary values of σ and b, we will simplify our work by using the values σ = 10 and b = 8/3. Near the origin (the critical point P1 ) the approximating linear system is −10 x y = r 0 z
10 −1 0
0 x 0 y . z −8/3
The eigenvalues are determined from the equation −10 − λ 10 0 = −(8/3 + λ)[λ2 + 11λ − 10(r − 1)] = 0. r −1 − λ 0 0 0 −8/3 − λ
(5)
(6)
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Chapter 9. Nonlinear Differential Equations and Stability
Therefore
√ √ 8 −11 − 81 + 40r −11 + 81 + 40r λ1 = − , λ2 = , λ3 = . (7) 3 2 2 Note that all three eigenvalues are negative for r < 1; for example, when r = 1/2, the eigenvalues are λ1 = −8/3, λ2 = −10.52494, λ3 = −0.47506. Hence the origin is asymptotically stable for this range of r both for the linear approximation (5) and for the original system (1). However, λ3 changes sign when r = 1 and is positive for r > 1. The value r = 1 corresponds to the initiation of convective flow in the physical problem described earlier. The origin is unstable for r > 1; all solutions starting near the origin tend to grow except for those lying precisely in the plane determined by the eigenvectors associated with λ1 and λ2 [or, for the nonlinear system (1), in a certain surface tangent to this plane at the origin]. √ √ Next let us consider the neighborhood of the critical point P2 ( 8(r − 1)/3, 8(r − 1)/3, r − 1) for r > 1. If u, v, and w are the perturbations from the critical point in the x, y, and z directions, respectively, then the approximating linear system is u −10 10 u √ 0 v . v = (8) 1 −1 − 8(r − 1)/3 √ √ 8(r − 1)/3 8(r − 1)/3 −8/3 w w The eigenvalues of the coefficient matrix of Eq. (8) are determined from the equation 3λ3 + 41λ2 + 8(r + 10)λ + 160(r − 1) = 0,
(9)
which is obtained by straightforward algebraic steps that are omitted here. The solutions of Eq. (9) depend on r in the following way: For 1 < r < r1 ∼ = 1.3456 there are three negative real eigenvalues. For r1 < r < r2 ∼ = 24.737 there are one negative real eigenvalue and two complex eigenvalues with negative real part. For r2 < r there are one negative real eigenvalue and two complex eigenvalues with positive real part. The same results are obtained for the critical point P3 . Thus there are several different situations. For 0 < r < 1 the only critical point is P1 and it is asymptotically stable. All solutions approach this point (the origin) as t → ∞. For 1 < r < r1 the critical points P2 and P3 are asymptotically stable and P1 is unstable. All nearby solutions approach one or the other of the points P2 and P3 exponentially. For r1 < r < r2 the critical points P2 and P3 are asymptotically stable and P1 is unstable. All nearby solutions approach one or the other of the points P2 and P3 ; most of them spiral inward to the critical point. For r2 < r all three critical points are unstable. Most solutions near P2 or P3 spiral away from the critical point. However, this is by no means the end of the story. Let us consider solutions for r somewhat greater than r2 . In this case P1 has one positive eigenvalue and each of P2 and P3 has a pair of complex eigenvalues with positive real part. A trajectory can approach any one of the critical points only on certain highly restricted paths. The
535
9.8 Chaos and Strange Attractors: The Lorenz Equations
slightest deviation from these paths causes the trajectory to depart from the critical point. Since none of the critical points is stable, one might expect that most trajectories will approach infinity for large t. However, it can be shown that all solutions remain bounded as t → ∞; see Problem 5. In fact, it can be shown that all solutions ultimately approach a certain limiting set of points that has zero volume. Indeed, this is true not only for r > r2 but for all positive values of r . A plot of computed values of x versus t for a typical solution with r > r2 is shown in Figure 9.8.2. Note that the solution oscillates back and forth between positive and negative values in a rather erratic manner. Indeed, the graph of x versus t resembles a random vibration, although the Lorenz equations are entirely deterministic and the solution is completely determined by the initial conditions. Nevertheless, the solution also exhibits a certain regularity in that the frequency and amplitude of the oscillations are essentially constant in time. The solutions of the Lorenz equations are also extremely sensitive to perturbations in the initial conditions. Figure 9.8.3 shows the graphs of computed values of x versus t x 16 8
10
t
–8 –16
FIGURE 9.8.2 A plot of x versus t for the Lorenz equations (1) with r = 28; initial point is (5, 5, 5). x 16
8
10
t
–8
–16
FIGURE 9.8.3 Plots of x versus t for two initially nearby solutions of Lorenz equations with r = 28; initial point is (5, 5, 5) for dashed curve and (5.01, 5, 5) for solid curve.
536
Chapter 9. Nonlinear Differential Equations and Stability
for the two solutions whose initial points are (5, 5, 5) and (5.01, 5, 5). The dashed graph is the same as the one in Figure 9.8.2, while the solid graph starts at a nearby point. The two solutions remain close until t is near 10, after which they are quite different and, indeed, seem to have no relation to each other. It was this property that particularly attracted the attention of Lorenz in his original study of these equations, and caused him to conclude that detailed long-range weather predictions are probably not possible. The attracting set in this case, although of zero volume, has a rather complicated structure and is called a strange attractor. The term chaotic has come into general use to describe solutions such as those shown in Figures 9.8.2 and 9.8.3. To determine how and when the strange attractor is created it is illuminating to investigate solutions for smaller values of r . For r = 21 solutions starting at three different initial points are shown in Figure 9.8.4. For the initial point (3, 8, 0) the solution begins to converge to the point P3 almost at once; see Figure 9.8.4a. For the second initial point (5, 5, 5) there is a fairly short interval of transient behavior, after which the solution converges to P2 ; see Figure 9.8.4b. However, as shown in Figure 9.8.4c, for the third initial point (5, 5, 10) there is a much longer interval of transient chaotic behavior before the solution eventually converges to P2 . As r increases, the duration of the chaotic transient behavior also increases. When r = r3 ∼ = 24.06, the chaotic transients appear to continue indefinitely and the strange attractor comes into being. One can also show the trajectories of the Lorenz equations in the three-dimensional phase space, or at least projections of them in various planes. Figures 9.8.5 and 9.8.6 x
x
16
16
8
8 12
24
t
12
–8
–8
–16
–16 (a)
t
24
(b)
x 16 8 48 12
24
36
60
72
–8 –16 (c)
FIGURE 9.8.4 Plots of x versus t for three solutions of Lorenz equations with r = 21. (a) Initial point is (3, 8, 0). (b) Initial point is (5, 5, 5). (c) Initial point is (5, 5, 10).
t
537
9.8 Chaos and Strange Attractors: The Lorenz Equations y 20
10
–20
20
x
–10
–20
FIGURE 9.8.5 Projections of a trajectory of the Lorenz equations (with r = 28) in the x y-plane. z 40 30
10 –10
10
x
FIGURE 9.8.6 Projections of a trajectory of the Lorenz equations (with r = 28) in the x z-plane.
show projections in the x y- and x z-planes, respectively, of the trajectory starting at (5, 5, 5). Observe that the graphs in these figures appear to cross over themselves repeatedly, but this cannot be true for the actual trajectories in three-dimensional space because of the general uniqueness theorem. The apparent crossings are due wholly to the two-dimensional character of the figures. The sensitivity of solutions to perturbations of the initial data also has implications for numerical computations, such as those reported here. Different step sizes, different numerical algorithms, or even the execution of the same algorithm on different machines will introduce small differences in the computed solution, which eventually lead to large deviations. For example, the exact sequence of positive and negative loops in the calculated solution depends strongly on the precise numerical algorithm and its
538
Chapter 9. Nonlinear Differential Equations and Stability
implementation, as well as on the initial conditions. However, the general appearance of the solution and the structure of the attracting set is independent of all these factors. Solutions of the Lorenz equations for other parameter ranges exhibit other interesting types of behavior. For example, for certain values of r greater than r2 , intermittent bursts of chaotic behavior separate long intervals of apparently steady periodic oscillation. For other ranges of r , solutions show the period-doubling property that we saw in Section 2.9 for the logistic difference equation. Some of these features are taken up in the problems. Since about 1975 the Lorenz equations and other higher order autonomous systems have been studied intensively, and this is one of the most active areas of current mathematical research. Chaotic behavior of solutions appears to be much more common than was suspected at first, and many questions remain unanswered. Some of these are mathematical in nature, while others relate to the physical applications or interpretations of solutions.
PROBLEMS
Problems 1 through 3 ask you to fill in some of the details of the analysis of the Lorenz equations in the text. 1. (a) Show that the eigenvalues of the linear system (5), valid near the origin, are given by Eq. (7). (b) Determine the corresponding eigenvectors. (c) Determine the eigenvalues and eigenvectors of the system (5) in the case where r = 28. 䉴 2. (a) Show that the linear approximation valid near the critical point P2 is given by Eq. (8). (b) Show that the eigenvalues of the system (8) satisfy Eq. (9). (c) For r = 28 solve Eq. (9) and thereby determine the eigenvalues of the system (8). 䉴 3. (a) By solving Eq. (9) numerically show that the real part of the complex roots changes sign when r ∼ = 24.737. (b) Show that a cubic polynomial x 3 + Ax 2 + Bx + C has one real zero and two pure imaginary zeros only if AB = C. (c) By applying the result of part (b) to Eq. (9) show that the real part of the complex roots changes sign when r = 470/19. 4. Use the Liapunov function V (x, y, z) = x 2 + σ y 2 + σ z 2 to show that the origin is a globally asymptotically stable critical point for the Lorenz equations (1) if r < 1. 5. Consider the ellipsoid V (x, y, z) = r x 2 + σ y 2 + σ (z − 2r )2 = c > 0. (a) Calculate d V /dt along trajectories of the Lorenz equations (1). (b) Determine a sufficient condition on c so that every trajectory crossing V (x, y, z) = c is directed inward. (c) Evaluate the condition found in part (b) for the case σ = 10, b = 8/3, r = 28. In each of Problems 6 through 10 carry out the indicated investigations of the Lorenz equations.
䉴 䉴 䉴
6. For r = 28 plot x versus t for the cases shown in Figures 9.8.2 and 9.8.3. Do your graphs agree with those shown in the figures? Recall the discussion of numerical computation in the text. 7. For r = 28 plot the projections in the x y- and x z-planes, respectively, of the trajectory starting at the point (5, 5, 5). Do the graphs agree with those in Figures 9.8.5 and 9.8.6? 8. (a) For r = 21 plot x versus t for the solutions starting at the initial points (3, 8, 0), (5, 5, 5), and (5, 5, 10). Use a t interval of at least 0 ≤ t ≤ 30. Compare your graphs with those in Figure 9.8.4.
9.8 Chaos and Strange Attractors: The Lorenz Equations
539
(b) Repeat the calculation in part (a) for r = 22, r = 23, and r = 24. Increase the t interval as necessary so that you can determine when each solution begins to converge to one of the critical points. Record the approximate duration of the chaotic transient in each case. Describe how this quantity depends on the value of r . (c) Repeat the calculations in parts (a) and (b) for values of r slightly greater than 24. Try to estimate the value of r for which the duration of the chaotic transient approaches infinity. 䉴 9. For certain r intervals, or windows, the Lorenz equations exhibit a period-doubling property similar to that of the logistic difference equation discussed in Section 2.9. Careful calculations may reveal this phenomenon. (a) One period-doubling window contains the value r = 100. Let r = 100 and plot the trajectory starting at (5, 5, 5) or some other initial point of your choice. Does the solution appear to be periodic? What is the period? (b) Repeat the calculation in part (a) for slightly smaller values of r . When r ∼ = 99.98, you may be able to observe that the period of the solution doubles. Try to observe this result by performing calculations with nearby values of r . (c) As r decreases further, the period of the solution doubles repeatedly. The next period doubling occurs at about r = 99.629. Try to observe this by plotting trajectories for nearby values of r . 䉴 10. Now consider values of r slightly larger than those in Problem 9. (a) Plot trajectories of the Lorenz equations for values of r between 100 and 100.78. You should observe a steady periodic solution for this range of r values. (b) Plot trajectories for values of r between 100.78 and 100.8. Determine as best you can how and when the periodic trajectory breaks up.
REFERENCES
There are many recent books that expand on the material treated in this chapter, for example:
Drazin, P. G., Nonlinear Systems (Cambridge: Cambridge University Press, 1992). Glendinning, P., Stability, Instability, and Chaos (Cambridge: Cambridge University Press, 1994). Grimshaw, R., Nonlinear Ordinary Differential Equations (Oxford: Blackwell Scientific Publications, 1990). Two books that are especially notable from the point of view of applications are:
Danby, J. M. A., Computer Applications to Differential Equations (Englewood Cliffs, NJ: Prentice Hall, 1985). Strogatz, S. H., Nonlinear Dynamics and Chaos (Reading, MA: Addison-Wesley, 1994). A good reference on Liapunov’s second method is:
LaSalle, J., and Lefschetz, S., Stability by Liapunov’s Direct Method with Applications (New York: Academic Press, 1961). Among the large number of more comprehensive books on differential equations are:
Arnol’d, V. I., Ordinary Differential Equations (New York/Berlin: Springer-Verlag, 1992). Translation of the third Russian edition by Roger Cooke. Brauer, F., and Nohel, J., Qualitative Theory of Ordinary Differential Equations (New York: Benjamin, 1969; New York: Dover, 1989). Guckenheimer, J. C., and Holmes, P., Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields (New York/Berlin: Springer-Verlag, 1983). A classic reference on ecology is:
Odum, E. P., Fundamentals of Ecology (3rd ed.) (Philadelphia: Saunders, 1971). Two books dealing with ecology and population dynamics on a more mathematical level are:
May, R. M., Stability and Complexity in Model Ecosystems (Princeton, NJ: Princeton University Press, 1973).
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Chapter 9. Nonlinear Differential Equations and Stability Pielou, E. C., Mathematical Ecology (New York: Wiley, 1977). The original paper on the Lorenz equations is:
Lorenz, E. N., “Deterministic Nonperiodic Flow,” Journal of the Atmospheric Sciences 20 (1963), pp. 130 –141. A very detailed treatment of the Lorenz equations is:
Sparrow, C., The Lorenz Equations: Bifurcations, Chaos, and Strange Attractors (New York/Berlin: Springer-Verlag, 1982).
CHAPTER
10
Partial Differential Equations and Fourier Series In many important physical problems there are two or more independent variables, so that the corresponding mathematical models involve partial, rather than ordinary, differential equations. This chapter treats one important method for solving partial differential equations, a method known as separation of variables. Its essential feature is the replacement of the partial differential equation by a set of ordinary differential equations, which must be solved subject to given initial or boundary conditions. The first section of this chapter deals with some basic properties of boundary value problems for ordinary differential equations. The desired solution of the partial differential equation is then expressed as a sum, usually an infinite series, formed from solutions of the ordinary differential equations. In many cases we ultimately need to deal with a series of sines and/or cosines, so part of the chapter is devoted to a discussion of such series, which are known as Fourier series. With the necessary mathematical background in place, we then illustrate the use of separation of variables on a variety of problems arising from heat conduction, wave propagation, and potential theory.
10.1 Two-Point Boundary Value Problems Up to this point in the book we have dealt with initial value problems, consisting of a differential equation together with suitable initial conditions at a given point. A typical example, which was discussed at length in Chapter 3, is the differential equation y + p(t)y + q(t)y = g(t),
(1)
541
542
Chapter 10. Partial Differential Equations and Fourier Series
with the initial conditions y(t0 ) = y0 ,
y (t0 ) = y0 .
(2)
Physical applications often lead to another type of problem, one in which the value of the dependent variable y or its derivative is specified at two different points. Such conditions are called boundary conditions to distinguish them from initial conditions that specify the value of y and y at the same point. A differential equation together with suitable boundary conditions form a two-point boundary value problem. A typical example is the differential equation y + p(x)y + q(x)y = g(x)
(3)
with the boundary conditions y(α) = y0 ,
y(β) = y1 .
(4)
The natural occurrence of boundary value problems usually involves a space coordinate as the independent variable so we have used x rather than t in Eqs. (3) and (4). To solve the boundary value problem (3), (4) we need to find a function y = φ(x) that satisfies the differential equation (3) in the interval α < x < β and that takes on the specified values y0 and y1 at the endpoints of the interval. Usually, we seek first the general solution of the differential equation and then use the boundary conditions to determine the values of the arbitrary constants. Boundary value problems can also be posed for nonlinear differential equations but we will restrict ourselves to a consideration of linear equations only. An important classification of linear boundary value problems is whether they are homogeneous or nonhomogeneous. If the function g has the value zero for each x, and if the boundary values y0 and y1 are also zero, then the problem (3), (4) is called homogeneous. Otherwise, the problem is nonhomogeneous. Although the initial value problem (1), (2) and the boundary value problem (3), (4) may superficially appear to be quite similar, their solutions differ in some very important ways. Under mild conditions on the coefficients initial value problems are certain to have a unique solution. On the other hand, boundary value problems under similar conditions may have a unique solution, but may also have no solution or, in some cases, infinitely many solutions. In this respect, linear boundary value problems resemble systems of linear algebraic equations. Let us recall some facts (see Section 7.3) about the system Ax = b,
(5)
where A is a given n × n matrix, b is a given n × 1 vector, and x is an n × 1 vector to be determined. If A is nonsingular, then the system (5) has a unique solution for any b. However, if A is singular, then the system (5) has no solution unless b satisfies a certain additional condition, in which case the system has infinitely many solutions. Now consider the corresponding homogeneous system Ax = 0,
(6)
obtained from the system (5) when b = 0. The homogeneous system (6) always has the solution x = 0. If A is nonsingular, then this is the only solution, but if A is singular, then there are infinitely many (nonzero) solutions. Note that it is impossible for the homogeneous system to have no solution. These results can also be stated in the following way: The nonhomogeneous system (5) has a unique solution if and only
10.1
543
Two-Point Boundary Value Problems
if the homogeneous system (6) has only the solution x = 0, and the nonhomogeneous system (5) has either no solution or infinitely many if and only if the homogeneous system (6) has nonzero solutions. We now turn to some examples of linear boundary value problems that illustrate very similar behavior. A more general discussion of linear boundary value problems appears in Chapter 11.
Solve the boundary value problem EXAMPLE
1
y + 2y = 0,
y(0) = 1,
y(π) = 0.
The general solution of the differential equation (7) is √ √ y = c1 cos 2x + c2 sin 2x.
(7)
(8)
The first boundary√condition requires that c1 = 1. The second boundary condition √ √ implies that c1 cos 2π + c2 sin 2π = 0, so c2 = − cot 2π ∼ = −0.2762. Thus the solution of the boundary value problem (7) is √ √ √ y = cos 2x − cot 2π sin 2x. (9) This example illustrates the case of a nonhomogeneous boundary value problem with a unique solution. Solve the boundary value problem EXAMPLE
2
y + y = 0,
y(0) = 1,
y(π) = a,
(10)
where a is a given number. The general solution of this differential equation is y = c1 cos x + c2 sin x
(11)
and from the first boundary condition we find that c1 = 1. The second boundary condition now requires that −c1 = a. These two conditions on c1 are incompatible if a = −1 so the problem has no solution in that case. However, if a = −1, then both boundary conditions are satisfied provided that c1 = 1, regardless of the value of c2 . In this case there are infinitely many solutions of the form y = cos x + c2 sin x,
(12)
where c2 remains arbitrary. This example illustrates that a nonhomogeneous boundary value problem may have no solution, and also that under special circumstances it may have infinitely many solutions. Corresponding to the nonhomogeneous boundary value problem (3), (4) is the homogeneous problem consisting of the differential equation y + p(x)y + q(x)y = 0
(13)
and the boundary conditions y(α) = 0,
y(β) = 0.
(14)
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Chapter 10. Partial Differential Equations and Fourier Series
Observe that this problem has the solution y = 0 for all x regardless of the coefficients p(x) and q(x). This solution is often called the trivial solution and is rarely of interest. What we usually want to know is whether the problem has other, nonzero, solutions. Consider the following two examples.
Solve the boundary value problem EXAMPLE
3
y + 2y = 0,
y(0) = 0,
y(π) = 0.
(15)
The general solution of the differential equation is again given by Eq. (8), √ √ y = c1 cos 2x + c2 sin 2x. The first boundary √ condition requires √ that c1 = 0 and the second boundary condition leads to c2 sin 2π = 0. Since sin 2π = 0, it follows that c2 = 0 also. Consequently, y = 0 for all x is the only solution of the problem (15). This example illustrates that a homogeneous boundary value problem may have only the trivial solution y = 0.
Solve the boundary value problem EXAMPLE
4
y + y = 0,
y(0) = 0,
y(π) = 0.
(16)
The general solution is given by Eq. (11), y = c1 cos x + c2 sin x, and the first boundary condition requires that c1 = 0. Since sin π = 0, the second boundary condition is also satisfied regardless of the value of c2 . Thus the solution of the problem (16) is y = c2 sin x, where c2 remains arbitrary. This example illustrates that a homogeneous boundary value problem may have infinitely many solutions.
Examples 1 through 4 illustrate (but of course do not prove) that there is the same relationship between homogeneous and nonhomogeneous linear boundary value problems as there is between homogeneous and nonhomogeneous linear algebraic systems. A nonhomogeneous boundary value problem (Example 1) has a unique solution and the corresponding homogeneous problem (Example 3) has only the trivial solution. Further, a nonhomogeneous problem (Example 2) has either no solution or infinitely many and the corresponding homogeneous problem (Example 4) has nontrivial solutions. Eigenvalue Problems. Recall the matrix equation Ax = λx
(17)
that was discussed in Section 7.3. Equation (17) has the solution x = 0 for every value of λ but for certain values of λ, called eigenvalues, there are also other nonzero solutions, called eigenvectors. The situation is similar for boundary value problems. Consider the problem consisting of the differential equation y + λy = 0,
(18)
10.1
545
Two-Point Boundary Value Problems
together with the boundary conditions y(0) = 0,
y(π) = 0.
(19)
Observe that the problem (18), (19) is the same as the problems in Examples 3 and 4 if λ = 2 and λ = 1, respectively. Recalling the results of these examples, we note that for λ = 2, Eqs. (18), (19) have only the trivial solution y = 0, while for λ = 1, the problem (18), (19) has other, nontrivial, solutions. By extension of the terminology associated with Eq. (17) the values of λ for which nontrivial solutions of (18), (19) occur are called eigenvalues and the nontrivial solutions themselves are called eigenfunctions. Restating the results of Examples 3 and 4, we have found that λ = 1 is an eigenvalue of the problem (18), (19) and that λ = 2 is not. Further, any nonzero multiple of sin x is an eigenfunction corresponding to the eigenvalue λ = 1. Let us now turn to the problem of finding other eigenvalues and eigenfunctions of the problem (18), (19). We need to consider separately the cases λ > 0, λ = 0, and λ < 0, since the form of the solution of Eq. (18) is different in each of these cases. Suppose first that λ > 0. To avoid the frequent appearance of radical signs, it is convenient to let λ = µ2 and to rewrite Eq. (18) as y + µ2 y = 0.
(20)
The characteristic polynomial equation for Eq. (20) is r 2 + µ2 = 0 with roots r = ±iµ, so the general solution is y = c1 cos µx + c2 sin µx.
(21)
Note that µ is nonzero (since λ > 0) and there is no loss of generality if we also assume that µ is positive. The first boundary condition requires that c1 = 0 and then the second boundary condition reduces to c2 sin µπ = 0.
(22)
We are seeking nontrivial solutions so we must require that c2 = 0. Consequently, sin µπ must be zero and our task is to choose µ so that this will occur. We know that the sine function has the value zero at every integer multiple of π so we can choose µ to be any (positive) integer. The corresponding values of λ are the squares of the positive integers, so we have determined that λ1 = 1,
λ2 = 4,
λ3 = 9, . . . ,
λn = n 2 , . . .
(23)
are eigenvalues of the problem (18), (19). The eigenfunctions are given by Eq. (21) with c1 = 0, so they are just multiples of the functions sin nx for n = 1, 2, 3, . . . . Observe that the constant c2 in Eq. (21) is never determined, so eigenfunctions are determined only up to an arbitrary multiplicative constant [just as are the eigenvectors of the matrix problem (17)]. We will usually choose the multiplicative constant to be 1 and write the eigenfunctions as y1 (x) = sin x,
y2 (x) = sin 2x, . . . ,
yn (x) = sin nx, . . . ,
(24)
remembering that multiples of these functions are also eigenfunctions. Now let us suppose that λ < 0. If we let λ = −µ2 , then Eq. (18) becomes y − µ2 y = 0.
(25)
546
Chapter 10. Partial Differential Equations and Fourier Series
The characteristic equation for Eq. (25) is r 2 − µ2 = 0 with roots r = ±µ, so its general solution can be written as y = c1 cosh µx + c2 sinh µx.
(26)
We have chosen the hyperbolic functions cosh µx and sinh µx as a fundamental set of solutions rather than the exponential functions exp(µx) and exp(−µx) for convenience in applying the boundary conditions. The first boundary condition requires that c1 = 0 and then the second boundary condition gives c2 sinh µπ = 0. Since µ = 0, it follows that sinh µπ = 0, and therefore we must have c2 = 0. Consequently, y = 0 and there are no nontrivial solutions for λ < 0. In other words, the problem (18), (19) has no negative eigenvalues. Finally, consider the possibility that λ = 0. Then Eq. (18) becomes y = 0,
(27)
y = c1 x + c2 .
(28)
and its general solution is The boundary conditions (19) can only be satisfied by choosing c1 = 0 and c2 = 0, so there is only the trivial solution y = 0 in this case as well. That is, λ = 0 is not an eigenvalue. To summarize our results: We have shown that the problem (18), (19) has an infinite sequence of positive eigenvalues λn = n 2 for n = 1, 2, 3, . . . and that the corresponding eigenfunctions are proportional to sin nx. Further, there are no other real eigenvalues. There remains the possibility that there might be some complex eigenvalues; recall that a matrix with real elements may very well have complex eigenvalues. In Problem 17 we outline an argument showing that the particular problem (18), (19) cannot have complex eigenvalues. Later, in Section 11.2, we discuss an important class of boundary value problems that includes (18), (19). One of the important properties of this class of problems is that all their eigenvalues are real. In later sections of this chapter we will often encounter the problem y + λy = 0,
y(0) = 0,
y(L) = 0,
(29)
which differs from the problem (18), (19) only in that the second boundary condition is imposed at an arbitrary point x = L rather than at x = π. The solution process is exactly the same as before up to the step where the second boundary condition is applied. For the problem (29) this condition requires that c2 sin µL = 0
(30)
rather than Eq. (22), as in the former case. Consequently, µL must be an integer multiple of π, so µ = nπ/L, where n is a positive integer. Hence the eigenvalues and eigenfunctions of the problem (29) are given by λn = n 2 π 2 /L 2 ,
yn (x) = sin(nπ x/L),
n = 1, 2, 3, . . . .
(31)
As usual, the eigenfunctions yn (x) are determined only up to an arbitrary multiplicative constant. In the same way as for (18), (19) you can show that the problem (29) has no eigenvalues or eigenfunctions other than those in Eq. (31). The problems following this section explore to some extent the effect of different boundary conditions on the eigenvalues and eigenfunctions. A more systematic discussion of two-point boundary and eigenvalue problems appears in Chapter 11.
10.2
547
Fourier Series
PROBLEMS
In each of Problems 1 through 10 either solve the given boundary value problem or else show that it has no solution. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10.
y(0) = 0, y (π ) = 1 y + y = 0, y (0) = 1, y (π ) = 0 y + 2y = 0, y + y = 0, y(0) = 0, y(L) = 0 y + y = 0, y (0) = 1, y(L) = 0 y(0) = 0, y(π ) = 0 y + y = x, y + 2y = x, y(0) = 0, y(π ) = 0 y(0) = 0, y(π ) = 0 y + 4y = cos x, y + 4y = sin x, y(0) = 0, y(π ) = 0 y + 4y = cos x, y (0) = 0, y (π ) = 0 y (0) = 0, y (π ) = 0 y + 3y = cos x,
In each of Problems 11 through 16 find the eigenvalues and eigenfunctions of the given boundary value problem. Assume that all eigenvalues are real. 11. 12. 13. 14. 15. 16. 17.
y + λy = 0, y(0) = 0, y (π ) = 0 y + λy = 0, y (0) = 0, y(π ) = 0 y + λy = 0, y (0) = 0, y (π ) = 0 y (0) = 0, y(L) = 0 y + λy = 0, y + λy = 0, y (0) = 0, y (L) = 0 y(0) = 0, y (L) = 0 y − λy = 0, In this problem we outline a proof that the eigenvalues of the boundary value problem (18), (19) are real. (a) Write the solution of Eq. (18) as y = k1 exp(iµx) + k2 exp(−iµx), where λ = µ2 , and impose the boundary conditions (19). Show that nontrivial solutions exist if and only if exp(iµπ ) − exp(−iµπ ) = 0.
(i)
(b) Let µ = ν + iσ and use Euler’s relation exp(iνπ ) = cos(νπ ) + i sin(νπ ) to determine the real and imaginary parts of Eq. (i). (c) By considering the equations found in part (b), show that σ = 0; hence µ is real and so is λ. Show also that ν = n, where n is an integer.
10.2 Fourier Series Later in this chapter you will find that you can solve many important problems involving partial differential equations provided that you can express a given function as an infinite sum of sines and/or cosines. In this and the following two sections we explain in detail how this can be done. These trigonometric series are called Fourier series1; 1
Fourier series are named for Joseph Fourier, who made the first systematic use, although not a completely rigorous investigation, of them in 1807 and 1811 in his papers on heat conduction. According to Riemann, when Fourier presented his first paper to the Paris Academy in 1807, stating that an arbitrary function could be expressed as a series of the form (1), the mathematician Lagrange was so surprised that he denied the possibility in the most definite terms. Although it turned out that Fourier’s claim of generality was somewhat too strong, his results inspired a flood of important research that has continued to the present day. See Grattan-Guinness or Carslaw [Historical Introduction] for a detailed history of Fourier series.
548
Chapter 10. Partial Differential Equations and Fourier Series
they are somewhat analogous to Taylor series in that both types of series provide a means of expressing quite complicated functions in terms of certain familiar elementary functions. We begin with a series of the form ∞ a0 mπ x mπ x + + bm sin . am cos 2 L L m=1
(1)
On the set of points where the series (1) converges, it defines a function f , whose value at each point is the sum of the series for that value of x. In this case the series (1) is said to be the Fourier series for f . Our immediate goals are to determine what functions can be represented as a sum of a Fourier series and to find some means of computing the coefficients in the series corresponding to a given function. The first term in the series (1) is written as a0 /2 rather than simply as a0 to simplify a formula for the coefficients that we derive below. Besides their association with the method of separation of variables and partial differential equations, Fourier series are also useful in various other ways, such as in the analysis of mechanical or electrical systems acted on by periodic external forces. Periodicity of the Sine and Cosine Functions. To discuss Fourier series it is necessary to develop certain properties of the trigonometric functions sin(mπ x/L) and cos(mπ x/L), where m is a positive integer. The first is their periodic character. A function f is said to be periodic with period T > 0 if the domain of f contains x + T whenever it contains x, and if f (x + T ) = f (x)
(2)
for every value of x. An example of a periodic function is shown in Figure 10.2.1. It follows immediately from the definition that if T is a period of f , then 2T is also a period, and so indeed is any integral multiple of T . The smallest value of T for which Eq. (2) holds is called the fundamental period of f . In this connection it should be noted that a constant may be thought of as a periodic function with an arbitrary period, but no fundamental period.
y
x T 2T
FIGURE 10.2.1 A periodic function.
10.2
549
Fourier Series
If f and g are any two periodic functions with common period T , then their product f g and any linear combination c1 f + c2 g are also periodic with period T . To prove the latter statement, let F(x) = c1 f (x) + c2 g(x); then for any x F(x + T ) = c1 f (x + T ) + c2 g(x + T ) = c1 f (x) + c2 g(x) = F(x).
(3)
Moreover, it can be shown that the sum of any finite number, or even the sum of a convergent infinite series, of functions of period T is also periodic with period T . In particular, the functions sin(mπ x/L) and cos(mπ x/L), m = 1, 2, 3, . . . , are periodic with fundamental period T = 2L/m. To see this, recall that sin x and cos x have fundamental period 2π, and that sin αx and cos αx have fundamental period 2π/α. If we choose α = mπ/L, then the period T of sin(mπ x/L) and cos(mπ x/L) is given by T = 2π L/mπ = 2L/m. Note also that, since every positive integral multiple of a period is also a period, each of the functions sin(mπ x/L) and cos(mπ x/L) has the common period 2L. Orthogonality of the Sine and Cosine Functions. To describe a second essential property of the functions sin(mπ x/L) and cos(mπ x/L) we generalize the concept of orthogonality of vectors (see Section 7.2). The standard inner product (u, v) of two real-valued functions u and v on the interval α ≤ x ≤ β is defined by β u(x)v(x) dx. (4) (u, v) = α
The functions u and v are said to be orthogonal on α ≤ x ≤ β if their inner product is zero, that is, if β u(x)v(x) dx = 0. (5) α
A set of functions is said to be mutually orthogonal if each distinct pair of functions in the set is orthogonal. The functions sin(mπ x/L) and cos(mπ x/L), m = 1, 2, . . . , form a mutually orthogonal set of functions on the interval −L ≤ x ≤ L. In fact, they satisfy the following orthogonality relations: L mπ x nπ x 0, m = n, cos cos dx = (6) L , m = n; L L −L L nπ x mπ x sin dx = 0, all m, n; (7) cos L L −L L nπ x mπ x 0, m = n, sin dx = (8) sin L , m = n. L L −L These results can be obtained by direct integration. For example, to derive Eq. (8), note that L nπ x 1 L (m + n)π x mπ x (m − n)π x sin dx = − cos sin cos dx L L 2 −L L L −L L 1 L sin[(m − n)π x/L] sin[(m + n)π x/L] = − 2π m−n m+n = 0,
−L
550
Chapter 10. Partial Differential Equations and Fourier Series
as long as m + n and m − n are not zero. Since m and n are positive, m + n = 0. On the other hand, if m − n = 0, then m = n, and the integral must be evaluated in a different way. In this case L L mπ x 2 mπ x nπ x sin sin dx sin dx = L L L −L −L 1 L 2mπ x = 1 − cos dx 2 −L L L 1 sin(2mπ x/L) = x− 2 2mπ/L = L.
−L
This establishes Eq. (8); Eqs. (6) and (7) can be verified by similar computations. The Euler–Fourier Formulas. Now let us suppose that a series of the form (1) converges, and let us call its sum f (x): ∞ a mπ x mπ x + bm sin . (9) am cos f (x) = 0 + 2 L L m=1 The coefficients am and bm can be related to f (x) as a consequence of the orthogonality conditions (6), (7), and (8). First multiply Eq. (9) by cos(nπ x/L), where n is a fixed positive integer (n > 0), and integrate with respect to x from −L to L. Assuming that the integration can be legitimately carried out term by term,2 we obtain L L ∞ a0 L nπ x nπ x mπ x nπ x f (x) cos cos am cos dx = dx + cos dx L 2 −L L L L −L −L m=1 L ∞ mπ x nπ x bm sin cos dx. (10) + L L −L m=1 Keeping in mind that n is fixed whereas m ranges over the positive integers, it follows from the orthogonality relations (6) and (7) that the only nonzero term on the right side of Eq. (10) is the one for which m = n in the first summation. Hence L nπ x f (x) cos n = 1, 2, . . . . (11) dx = Lan , L −L To determine a0 we can integrate Eq. (9) from −L to L, obtaining L L L ∞ ∞ a0 L mπ x mπ x f (x) dx = dx + am cos bm sin dx + dx 2 −L L L −L −L −L m=1 m=1 = La0 , since each integral involving a trigonometric function is zero. Thus 1 L nπ x f (x) cos dx, n = 0, 1, 2, . . . . an = L −L L 2
(12)
(13)
This is a nontrivial assumption, since not all convergent series with variable terms can be so integrated. For the special case of Fourier series, however, term-by-term integration can always be justified.
10.2
551
Fourier Series
By writing the constant term in Eq. (9) as a0 /2, it is possible to compute all the an from Eq. (13). Otherwise, a separate formula would have to be used for a0 . A similar expression for bn may be obtained by multiplying Eq. (9) by sin(nπ x/L), integrating termwise from −L to L, and using the orthogonality relations (7) and (8); thus 1 L nπ x f (x) sin dx, n = 1, 2, 3, . . . . (14) bn = L −L L Equations (13) and (14) are known as the Euler–Fourier formulas for the coefficients in a Fourier series. Hence, if the series (9) converges to f (x), and if the series can be integrated term by term, then the coefficients must be given by Eqs. (13) and (14). Note that Eqs. (13) and (14) are explicit formulas for an and bn in terms of f , and that the determination of any particular coefficient is independent of all the other coefficients. Of course, the difficulty in evaluating the integrals in Eqs. (13) and (14) depends very much on the particular function f involved. Note also that the formulas (13) and (14) depend only on the values of f (x) in the interval −L ≤ x ≤ L. Since each of the terms in the Fourier series (9) is periodic with period 2L, the series converges for all x whenever it converges in −L ≤ x ≤ L, and its sum is also a periodic function with period 2L. Hence f (x) is determined for all x by its values in the interval −L ≤ x ≤ L. It is possible to show (see Problem 27) that if g is periodic with period T , then every integral of g over an interval of length T has the same value. If we apply this result to the Euler–Fourier formulas (13) and (14), it follows that the interval of integration, −L ≤ x ≤ L, can be replaced, if it is more convenient to do so, by any other interval of length 2L.
EXAMPLE
1
Assume that there is a Fourier series converging to the function f defined by −x, −2 ≤ x < 0, f (x) = x, 0 ≤ x < 2;
(15)
f (x + 4) = f (x). Determine the coefficients in this Fourier series. This function represents a triangular wave (see Figure 10.2.2) and is periodic with period 4. Thus in this case L = 2 and the Fourier series has the form ∞ a mπ x mπ x + bm sin , (16) am cos f (x) = 0 + 2 2 2 m=1 where the coefficients are computed from Eqs. (13) and (14) with L = 2. Substituting for f (x) in Eq. (13) with m = 0, we have 1 0 1 2 a0 = (−x) dx + x dx = 1 + 1 = 2. (17) 2 −2 2 0 For m > 0, Eq. (13) yields 1 2 1 0 mπ x mπ x dx + dx. (−x) cos x cos am = 2 −2 2 2 0 2
552
Chapter 10. Partial Differential Equations and Fourier Series y 2
–6
–4
–2
2
4
6 x
FIGURE 10.2.2 Triangular wave.
These integrals can be evaluated through integration by parts, with the result that
0 1 mπ x 2 mπ x 2 2 cos am = − x sin − 2 mπ 2 mπ 2 −2
2 2 1 mπ x mπ x 2 2 + cos x sin + 2 mπ 2 mπ 2 0
2 2 2 2 2 2 2 2 1 = + cos mπ + cos mπ − − 2 mπ mπ mπ mπ 4 (cos mπ − 1), (mπ)2 −8/(mπ)2 , m odd, = 0, m even.
=
m = 1, 2, . . . (18)
Finally, from Eq. (14) it follows in a similar way that bm = 0,
m = 1, 2, . . . .
(19)
By substituting the coefficients from Eqs. (17), (18), and (19) in the series (16) we obtain the Fourier series for f : 1 1 8 3π x 5π x πx + 2 cos + 2 cos + ··· f (x) = 1 − 2 cos 2 2 2 π 3 5 ∞ 8 cos(mπ x/2) =1− 2 π m=1,3,5,... m2 =1−
Let EXAMPLE
2
∞ cos(2n − 1)π x/2 8 . π 2 n=1 (2n − 1)2
0, f (x) = 1, 0,
−3 < x < −1, −1 < x < 1, 1<x <3
(20)
(21)
and suppose that f (x + 6) = f (x); see Figure 10.2.3. Find the coefficients in the Fourier series for f .
10.2
553
Fourier Series y 1 –7
–5
–3
–1
1
3
5
7
t
FIGURE 10.2.3 Graph of f (x) in Example 2.
Since f has period 6, it follows that L = 3 in this problem. Consequently, the Fourier series for f has the form ∞ a nπ x nπ x , (22) f (x) = 0 + an cos + bn sin 2 3 3 n=1 where the coefficients an and bn are given by Eqs. (13) and (14) with L = 3. We have 1 3 1 1 2 f (x) dx = dx = . (23) a0 = 3 −3 3 −1 3 Similarly, 1 1 1 nπ x 2 1 nπ x nπ cos an = dx = sin sin , = 3 −1 3 nπ 3 nπ 3
n = 1, 2, . . . ,
(24)
−1
and 1 bn = 3
1 1 nπ x nπ x dx = − cos sin = 0, 3 nπ 3 −1
1
n = 1, 2, . . . .
(25)
−1
Thus the Fourier series for f is ∞ 1 nπ nπ x 2 f (x) = + sin cos 3 n=1 nπ 3 3 √ 3 1 cos(2π x/3) cos(4π x/3) cos(5π x/3) − − + ··· . = + cos(π x/3) + 3 π 2 4 5 (26)
EXAMPLE
3
Consider again the function in Example 1 and its Fourier series (20). Investigate the speed with which the series converges. In particular, determine how many terms are needed so that the error is no greater than 0.01 for all x. The mth partial sum in this series, m cos(2n − 1)π x/2 8 , (27) sm (x) = 1 − 2 π n=1 (2n − 1)2 can be used to approximate the function f . The coefficients diminish as (2n − 1)−2 , so the series converges fairly rapidly. This is borne out by Figure 10.2.4, where the partial sums for m = 1 and m = 2 are plotted. To investigate the convergence in more detail
554
Chapter 10. Partial Differential Equations and Fourier Series
we can consider the error em (x) = f (x) − sm (x). Figure 10.2.5 shows a plot of |e6 (x)| versus x for 0 ≤ x ≤ 2. Observe that |e6 (x)| is greatest at the points x = 0 and x = 2 where the graph of f (x) has corners. It is more difficult for the series to approximate the function near these points, resulting in a larger error there for a given n. Similar graphs are obtained for other values of m. Once you realize that the maximum error always occurs at x = 0 or x = 2, you can obtain a uniform error bound for each m simply by evaluating |em (x)| at one of these points. For example, for m = 6 we have e6 (2) = 0.03370, so |e6 (x)| < 0.034 for 0 ≤ x ≤ 2, and consequently for all x. Table 10.2.1 shows corresponding data for other values of m; these data are plotted in Figure 10.2.6. From this information you can begin to estimate the number of terms that are needed in the series in order to achieve a given level of accuracy in the approximation. For example, to guarantee that |em (x)| ≤ 0.01 we need to choose m = 21.
y 2
m=2
m=1
–4
–2
2
4
x
FIGURE 10.2.4 Partial sums in the Fourier series, Eq. (20), for the triangular wave.
e6(x) 0.035 0.030 0.025 0.020 0.015 0.010 0.005 0.5
1
1.5
2
x
FIGURE 10.2.5 Plot of |e6 (x)| versus x for the triangular wave.
10.2
555
Fourier Series
TABLE 10.2.1 Values of the Error em (2) for the Triangular Wave m
em (2)
2 4 6 10 15 20 25
0.09937 0.05040 0.03370 0.02025 0.01350 0.01013 0.00810
em(2) 0.10 0.08 0.06 0.04 0.02
5
10
15
20
25
m
FIGURE 10.2.6 Plot of em (2) versus m for the triangular wave.
In this book Fourier series appear mainly as a means of solving certain problems in partial differential equations. However, such series have much wider application in science and engineering, and in general are valuable tools in the investigation of periodic phenomena. A basic problem is to resolve an incoming signal into its harmonic components, which amounts to constructing its Fourier series representation. In some frequency ranges the separate terms correspond to different colors or to different audible tones. The magnitude of the coefficient determines the amplitude of each component. This process is referred to as spectral analysis.
PROBLEMS
In each of Problems 1 through 8 determine whether the given function is periodic. If so, find its fundamental period. 1. sin 5x 2. cos 2π x 3. sinh 2x 4. sin π x/L 5. tan π x 6. x 2 0, 2n − 1 ≤ x < 2n, 7. f (x) = n = 0, ±1, ±2, . . . 1, 2n ≤ x < 2n + 1; (−1)n , 2n − 1 ≤ x < 2n, 8. f (x) = n = 0, ±1, ±2, . . . 1, 2n ≤ x < 2n + 1;
556
Chapter 10. Partial Differential Equations and Fourier Series
9. If f (x) = −x for −L < x < L, and if f (x + 2L) = f (x), find a formula for f (x) in the interval L < x < 2L; in the interval −3L < x < −2L. x + 1, −1 < x < 0, 10. If f (x) = and if f (x + 2) = f (x), find a formula for f (x) in x, 0 < x < 1, the interval 1 < x < 2; in the interval 8 < x < 9. 11. If f (x) = L − x for 0 < x < 2L, and if f (x + 2L) = f (x), find a formula for f (x) in the interval −L < x < 0. 12. Verify Eqs. (6) and (7) of the text by direct integration. In each of Problems 13 through 18: (a) Sketch the graph of the given function for three periods. (b) Find the Fourier series for the given function. 13. f (x) = −x, −L ≤ x < L; f (x + 2L) = f (x) 1, −L ≤ x < 0, 14. f (x) = f (x + 2L) = f (x) 0, 0 ≤ x < L; x, −π ≤ x < 0, 15. f (x) = f (x + 2π ) = f (x) 0, 0 ≤ x < π; x + 1, −1 ≤ x < 0, f (x + 2) = f (x) 16. f (x) = 1 − x, 0 ≤ x < 1; x + L , −L ≤ x ≤ 0, f (x + 2L) = f (x) 17. f (x) = L, 0 < x < L; 0, −2 ≤ x ≤ −1, 18. f (x) = x, −1 < x < 1, f (x + 4) = f (x) 0, 1 ≤ x < 2; In each of Problems 19 through 24: (a) (b) (c) (d)
䉴 19. 䉴 20. 䉴 21. 䉴 22. 䉴 23. 䉴 24.
Sketch the graph of the given function for three periods. Find the Fourier series for the given function. Plot sm (x) versus x for m = 5, 10, and 20. Describe how the Fourier series seems to be converging. −1, −2 ≤ x < 0, f (x) = f (x + 4) = f (x) 1, 0 ≤ x < 2; f (x) = x, −1 ≤ x < 1; f (x + 2) = f (x) f (x) = x 2 /2, −2 ≤ x ≤ 2; f (x + 4) = f (x) x + 2, −2 ≤ x < 0, f (x) = f (x + 4) = f (x) 2 − 2x, 0 ≤ x < 2; 1 − 2 x, −2 ≤ x < 0, f (x + 4) = f (x) f (x) = 0 ≤ x < 2; 2x − 12 x 2 , 0, −3 ≤ x ≤ 0, f (x + 6) = f (x) f (x) = 2 0 < x < 3; x (3 − x),
䉴 25. Consider the function f defined in Problem 21 and let em (x) = f (x) − sm (x). Plot |em (x)| versus x for 0 ≤ x ≤ 2 for several values of m. Find the smallest value of m for which |em (x)| ≤ 0.01 for all x. 䉴 26. Consider the function f defined in Problem 24 and let em (x) = f (x) − sm (x). Plot |em (x)| versus x for 0 ≤ x ≤ 3 for several values of m. Find the smallest value of m for which |em (x)| ≤ 0.1 for all x. 27. Suppose that g is an integrable periodic function with period T .
10.2
557
Fourier Series
(a) If 0 ≤ a ≤ T , show that
T
g(x) d x =
0
a
Hint: Show first that
g(x) d x. a
a+T
g(x) d x =
0
a+T
g(x) d x. Consider the change of variable s =
T
x − T in the second integral. (b) Show that for any value of a, not necessarily in 0 ≤ a ≤ T , T a+T g(x) d x = g(x) d x. 0
a
(c) Show that for any values of a and b, a+T g(x) d x = a
b+T
g(x) d x.
b
28. If f is differentiable and is periodic with period T , show that f is also periodic with period T . Determine whether x f (t) dt F(x) = 0
is always periodic. 29. In this problem we indicate certain similarities between three-dimensional geometric vectors and Fourier series. (a) Let v1 , v2 , and v3 be a set of mutually orthogonal vectors in three dimensions and let u be any three-dimensional vector. Show that u = a1 v1 + a2 v2 + a3 v3 , where ai =
u ⴢ vi , vi ⴢ vi
i = 1, 2, 3.
(i)
(ii)
Show that ai can be interpreted as the projection of u in the direction of vi divided by the length of vi . (b) Define the inner product (u, v) by L u(x)v(x) d x. (iii) (u, v) = −L
Also let φn (x) = cos(nπ x/L),
n = 0, 1, 2, . . . ;
ψn (x) = sin(nπ x/L),
n = 1, 2, . . . .
(iv)
Show that Eq. (10) can be written in the form ( f, φn ) =
∞ ∞ a0 am (φm , φn ) + bm (ψm , φn ). (φ0 , φn ) + 2 m=1 m=1
(v)
(c) Use Eq. (v) and the corresponding equation for ( f, ψn ) together with the orthogonality relations to show that ( f, φn ) ( f, ψn ) an = , n = 0, 1, 2, . . . ; bn = , n = 1, 2, . . . . (vi) (φn , φn ) (ψn , ψn ) Note the resemblance between Eqs. (vi) and Eq. (ii). The functions φn and ψn play a role for functions similar to that of the orthogonal vectors v1 , v2 , and v3 in three-dimensional
558
Chapter 10. Partial Differential Equations and Fourier Series
space. The coefficients an and bn can be interpreted as projections of the function f onto the base functions φn and ψn . Observe also that any vector in three dimensions can be expressed as a linear combination of three mutually orthogonal vectors. In a somewhat similar way any sufficiently smooth function defined on −L ≤ x ≤ L can be expressed as a linear combination of the mutually orthogonal functions cos(nπ x/L) and sin(nπ x/L), that is, as a Fourier series.
10.3 The Fourier Convergence Theorem In the preceding section we showed that if the Fourier series ∞ a0 mπ x mπ x am cos + + bm sin 2 L L m=1
(1)
converges and thereby defines a function f , then f is periodic with period 2L, and the coefficients am and bm are related to f (x) by the Euler–Fourier formulas: 1 L mπ x f (x) cos dx, m = 0, 1, 2, . . . ; (2) am = L −L L 1 L mπ x f (x) sin dx, m = 1, 2, . . . . (3) bm = L −L L In this section we adopt a somewhat different point of view. Suppose that a function f is given. If this function is periodic with period 2L and integrable on the interval [−L , L], then a set of coefficients am and bm can be computed from Eqs. (2) and (3), and a series of the form (1) can be formally constructed. The question is whether this series converges for each value of x and, if so, whether its sum is f (x). Examples have been discovered showing that the Fourier series corresponding to a function f may not converge to f (x), or may even diverge. Functions whose Fourier series do not converge to the value of the function at isolated points are easily constructed, and examples will be presented later in this section. Functions whose Fourier series diverge at one or more points are more pathological, and we will not consider them in this book. To guarantee convergence of a Fourier series to the function from which its coefficients were computed it is essential to place additional conditions on the function. From a practical point of view, such conditions should be broad enough to cover all situations of interest, yet simple enough to be easily checked for particular functions. Through the years several sets of conditions have been devised to serve this purpose. Before stating a convergence theorem for Fourier series, we define a term that appears in the theorem. A function f is said to be piecewise continuous on an interval a ≤ x ≤ b if the interval can be partitioned by a finite number of points a = x0 < x1 < · · · < xn = b so that 1. 2.
f is continuous on each open subinterval xi−1 < x < xi . f approaches a finite limit as the endpoints of each subinterval are approached from within the subinterval.
The graph of a piecewise continuous function is shown in Figure 10.3.1.
10.3
559
The Fourier Convergence Theorem y
a
b
x
FIGURE 10.3.1 A piecewise continuous function.
The notation f (c+) is used to denote the limit of f (x) as x → c from the right; similarly, f (c−) denotes the limit of f (x) as x approaches c from the left. Note that it is not essential that the function even be defined at the partition points xi . For example, in the following theorem we assume that f is piecewise continuous; but certainly f does not exist at those points where f itself is discontinuous. It is also not essential that the interval be closed; it may also be open, or open at one end and closed at the other.
Theorem 10.3.1
Suppose that f and f are piecewise continuous on the interval −L ≤ x < L. Further, suppose that f is defined outside the interval −L ≤ x < L so that it is periodic with period 2L. Then f has a Fourier series ∞ a mπ x mπ x + bm sin , (4) am cos f (x) = 0 + 2 L L m=1 whose coefficients are given by Eqs. (2) and (3). The Fourier series converges to f (x) at all points where f is continuous, and to [ f (x+) + f (x−)]/2 at all points where f is discontinuous. Note that [ f (x+) + f (x−)]/2 is the mean value of the right- and left-hand limits at the point x. At any point where f is continuous, f (x+) = f (x−) = f (x). Thus it is correct to say that the Fourier series converges to [ f (x+) + f (x−)]/2 at all points. Whenever we say that a Fourier series converges to a function f , we always mean that it converges in this sense. It should be emphasized that the conditions given in this theorem are only sufficient for the convergence of a Fourier series; they are by no means necessary. Neither are they the most general sufficient conditions that have been discovered. In spite of this, the proof of the theorem is fairly difficult and is not given here.3 To obtain a better understanding of the content of the theorem it is helpful to consider some classes of functions that fail to satisfy the assumed conditions. Functions that are not included in the theorem are primarily those with infinite discontinuities in the interval [−L , L], such as 1/x 2 as x → 0, or ln |x − L| as x → L. Functions having an infinite number of jump discontinuities in this interval are also excluded; however, such functions are rarely encountered. 3
Proofs of the convergence of a Fourier series can be found in most books on advanced calculus. See, for example, Kaplan (Chapter 7) or Buck (Chapter 6).
560
Chapter 10. Partial Differential Equations and Fourier Series
It is noteworthy that a Fourier series may converge to a sum that is not differentiable, or even continuous, in spite of the fact that each term in the series (4) is continuous, and even differentiable infinitely many times. The example below is an illustration of this, as is Example 2 in Section 10.2. 0, f (x) = L,
Let EXAMPLE
1
−L < x < 0, 0 < x < L,
(5)
and let f be defined outside this interval so that f (x + 2L) = f (x) for all x. We will temporarily leave open the definition of f at the points x = 0, ±L, except that its value must be finite. Find the Fourier series for this function and determine where it converges. y L
–3L
–2L
–L
L
2L
3L
x
FIGURE 10.3.2 Square wave.
The equation y = f (x) has the graph shown in Figure 10.3.2, extended to infinity in both directions. It can be thought of as representing a square wave. The interval [−L , L] can be partitioned to give the two open subintervals (−L , 0) and (0, L). In (0, L), f (x) = L and f (x) = 0. Clearly, both f and f are continuous and furthermore have limits as x → 0 from the right and as x → L from the left. The situation in (−L , 0) is similar. Consequently, both f and f are piecewise continuous on [−L , L), so f satisfies the conditions of Theorem 10.3.1. If the coefficients am and bm are computed from Eqs. (2) and (3), the convergence of the resulting Fourier series to f (x) is assured at all points where f is continuous. Note that the values of am and bm are the same regardless of the definition of f at its points of discontinuity. This is true because the value of an integral is unaffected by changing the value of the integrand at a finite number of points. From Eq. (2) L 1 L f (x) dx = dx = L; a0 = L −L 0 L 1 L mπ x mπ x f (x) cos cos am = dx = dx L −L L L 0 = 0, m = 0. Similarly, from Eq. (3),
L 1 L mπ x mπ x dx = dx f (x) sin sin bm = L −L L L 0 L = (1 − cos mπ) mπ 0, m even; = 2L/mπ, m odd.
10.3
561
The Fourier Convergence Theorem
Hence 2L L f (x) = + 2 π 2L L = + 2 π =
πx 1 3π x 1 5π x sin + sin + sin + ··· L 3 L 5 L ∞ sin(mπ x/L) m m=1,3,5,...
∞ L 2L sin(2n − 1)π x/L + . 2 π n=1 2n − 1
(6)
At the points x = 0, ±n L, where the function f in the example is not continuous, all terms in the series after the first vanish and the sum is L/2. This is the mean value of the limits from the right and left, as it should be. Thus we might as well define f at these points to have the value L/2. If we choose to define it otherwise, the series still gives the value L/2 at these points, since none of the preceding calculations is altered in any detail; it simply does not converge to the function at those points unless f is defined to have this value. This illustrates the possibility that the Fourier series corresponding to a function may not converge to it at points of discontinuity unless the function is suitably defined at such points. The manner in which the partial sums L 2L πx 1 (2n − 1)π x sin + ··· + sin , n = 1, 2, . . . sn (x) = + 2 π L 2n − 1 L of the Fourier series (6) converge to f (x) is indicated in Figure 10.3.3, where L has been chosen to be one and the graph of s8 (x) is plotted. The figure suggests that at points where f is continuous the partial sums do approach f (x) as n increases. However, in the neighborhood of points of discontinuity, such as x = 0 and x = L, the partial sums do not converge smoothly to the mean value. Instead they tend to overshoot the mark at each end of the jump, as though they cannot quite accommodate themselves to the sharp turn required at this point. This behavior is typical of Fourier series at points of discontinuity, and is known as the Gibbs4 phenomenon. y n=8
1
–2
–1
1
2
x
FIGURE 10.3.3 The partial sum s8 (x) in the Fourier series, Eq. (6), for the square wave.
Additional insight is attained by considering the error en (x) = f (x) − sn (x). Figure 10.3.4 shows a plot of |en (x)| versus x for n = 8 and for L = 1. The least upper bound of |e8 (x)| is 0.5 and is approached as x → 0 and as x → 1. As n increases, the error 4
The Gibbs phenomenon is named after Josiah Willard Gibbs (1839 –1903), who is better known for his work on vector analysis and statistical mechanics. Gibbs was professor of mathematical physics at Yale, and one of the first American scientists to achieve an international reputation. Gibbs’ phenomenon is discussed in more detail by Carslaw (Chapter 9).
562
Chapter 10. Partial Differential Equations and Fourier Series
decreases in the interior of the interval [where f (x) is continuous] but the least upper bound does not diminish with increasing n. Thus one cannot uniformly reduce the error throughout the interval by increasing the number of terms. Figures 10.3.3 and 10.3.4 also show that the series in this example converges more slowly than the one in Example 1 in Section 10.2. This is due to the fact that the coefficients in the series (6) are proportional only to 1/(2n − 1). e8(x) 0.5 0.4 0.3 0.2 0.1
0.2
0.4
0.6
0.8
1
x
FIGURE 10.3.4 A plot of the error |e8 (x)| versus x for the square wave.
PROBLEMS
In each of Problems 1 through 6 assume that the given function is periodically extended outside the original interval. (a) Find the Fourier series for the extended function. (b) Sketch the graph of the function to which the series converges for three periods. −1, −1 ≤ x < 0, 0, −π ≤ x < 0, 1. f (x) = 2. f (x) = 1, 0≤x <1 x, 0≤x <π L + x, −L ≤ x < 0, 3. f (x) = 4. f (x) = 1 − x 2 , −1 ≤ x ≤ 1 L − x, 0≤x
10.3
563
The Fourier Convergence Theorem
x + 1, −1 ≤ x < 0, f (x + 2) = f (x) (see Section 10.2, Problem 16) 1 − x, 0 ≤ x < 1; f (x + 2) = f (x) (see Section 10.2, Problem 20) 䉴 9. f (x) = x, −1 ≤ x < 1; x + 2, −2 ≤ x < 0, (see Section 10.2, f (x + 4) = f (x) 䉴 10. f (x) = 2 − 2x, 0 ≤ x < 2; Problem 22) 0, −1 ≤ x < 0, f (x + 2) = f (x) (see Problem 6) 䉴 11. f (x) = 2 x , 0 ≤ x < 1;
䉴
8. f (x) =
䉴 12. f (x) = x − x 3 ,
−1 ≤ x < 1;
f (x + 2) = f (x)
Periodic Forcing Terms. In this chapter we are concerned mainly with the use of Fourier series to solve boundary value problems for certain partial differential equations. However, Fourier series are also useful in many other situations where periodic phenomena occur. Problems 13 through 16 indicate how they can be employed to solve initial value problems with periodic forcing terms. 13. Find the solution of the initial value problem y + ω2 y = sin nt,
y(0) = 0,
y (0) = 0,
where n is a positive integer and ω2 = n 2 . What happens if ω2 = n 2 ? 14. Find the formal solution of the initial value problem y + ω2 y =
∞
y(0) = 0,
bn sin nt,
y (0) = 0,
n=1
where ω > 0 is not equal to a positive integer. How is the solution altered if ω = m, where m is a positive integer? 15. Find the formal solution of the initial value problem y + ω2 y = f (t),
y(0) = 0,
where f is periodic with period 2π and 1, f (t) = 0, −1,
y (0) = 0,
0 < t < π; t = 0, π, 2π ; π < t < 2π.
See Problem 1. 16. Find the formal solution of the initial value problem y + ω2 y = f (t),
y(0) = 1,
where f is periodic with period 2 and 1 − t, f (t) = −1 + t,
y (0) = 0,
0 ≤ t < 1; 1 ≤ t < 2.
See Problem 8. 17. Assuming that f (x) =
∞ a0 nπ x nπ x , an cos + + bn sin 2 L L n=1
show formally that 1 L
L −L
[ f (x)]2 d x =
∞ a02 (an2 + bn2 ). + 2 n=1
(i)
564
Chapter 10. Partial Differential Equations and Fourier Series
This relation between a function f and its Fourier coefficients is known as Parseval’s (1755–1836) equation. Parseval’s equation is very important in the theory of Fourier series and is discussed further in Section 11.6. Hint: Multiply Eq. (i) by f (x), integrate from −L to L, and use the Euler–Fourier formulas. 18. This problem indicates a proof of convergence of a Fourier series under conditions more restrictive than those in Theorem 10.3.1. (a) If f and f are piecewise continuous on −L ≤ x < L, and if f is periodic with period 2L, show that nan and nbn are bounded as n → ∞. Hint: Use integration by parts. (b) If f is continuous on −L ≤ x ≤ L and periodic with period 2L, and if f and f are piecewise continuous on −L ≤ x < L, show that n 2 an and n 2 bn are bounded as n → ∞. Use this fact to show that the Fourier series for f converges at each point in −L ≤ x ≤ L. Why must f be continuous on the closed interval? Hint: Again, use integration by parts. Acceleration of Convergence. In the next problem we show how it is sometimes possible to improve the speed of convergence of a Fourier, or other infinite, series. 19. Suppose that we wish to calculate values of the function g, where g(x) =
∞ n=1
(2n − 1) sin(2n − 1)π x. 1 + (2n − 1)2
(i)
It is possible to show that this series converges, albeit rather slowly. However, observe that for large n the terms in the series (i) are approximately equal to [sin(2n − 1)π x]/(2n − 1) and that the latter terms are similar to those in the example in the text, Eq. (6). (a) Show that ∞
[sin(2n − 1)π x]/(2n − 1) = (π/2)[ f (x) − 12 ],
(ii)
n=1
where f is the square wave in the example with L = 1. (b) Subtract Eq. (ii) from Eq. (i) and show that g(x) =
∞ π sin(2n − 1)π x [ f (x) − 12 ] − . 2 2 n=1 (2n − 1)[1 + (2n − 1) ]
(iii)
The series (iii) converges much faster than the series (i) and thus provides a better way to calculate values of g(x).
10.4 Even and Odd Functions Before looking at further examples of Fourier series it is useful to distinguish two classes of functions for which the Euler–Fourier formulas can be simplified. These are even and odd functions, which are characterized geometrically by the property of symmetry with respect to the y-axis and the origin, respectively (see Figure 10.4.1). Analytically, f is an even function if its domain contains the point −x whenever it contains the point x, and if f (−x) = f (x)
(1)
10.4
565
Even and Odd Functions y
y
x
x
(a)
(b)
FIGURE 10.4.1 (a) An even function. (b) An odd function.
for each x in the domain of f . Similarly, f is an odd function if its domain contains −x whenever it contains x, and if f (−x) = − f (x)
(2)
for each x in the domain of f . Examples of even functions are 1, x 2 , cos nx, |x|, and x 2n . The functions x, x 3 , sin nx, and x 2n+1 are examples of odd functions. Note that according to Eq. (2), f (0) must be zero if f is an odd function whose domain contains the origin. Most functions are neither even nor odd, for instance, e x . Only one function, f identically zero, is both even and odd. Elementary properties of even and odd functions include the following: 1. 2. 3.
The sum (difference) and product (quotient) of two even functions are even. The sum (difference) of two odd functions is odd; the product (quotient) of two odd functions is even. The sum (difference) of an odd function and an even function is neither even nor odd; the product (quotient) of two such functions is odd.5
The proofs of all these assertions are simple and follow directly from the definitions. For example, if both f 1 and f 2 are odd, and if g(x) = f 1 (x) + f 2 (x), then g(−x) = f 1 (−x) + f 2 (−x) = − f 1 (x) − f 2 (x) = −[ f 1 (x) + f 2 (x)] = −g(x),
(3)
so f 1 + f 2 is an odd function also. Similarly, if h(x) = f 1 (x) f 2 (x), then h(−x) = f 1 (−x) f 2 (−x) = [− f 1 (x)][− f 2 (x)] = f 1 (x) f 2 (x) = h(x),
(4)
so that f 1 f 2 is even. Also of importance are the following two integral properties of even and odd functions: 4. If f is an even function, then L f (x) dx = 2 −L
5
L
f (x) dx.
0
These statements may need to be modified if either function vanishes identically.
(5)
566
Chapter 10. Partial Differential Equations and Fourier Series
5. If f is an odd function, then
L
−L
f (x) dx = 0.
(6)
These properties are intuitively clear from the interpretation of an integral in terms of area under a curve, and also follow immediately from the definitions. For example, if f is even, then 0 L L f (x) dx = f (x) dx + f (x) dx. −L
−L
0
Letting x = −s in the first term on the right side, and using Eq. (1), we obtain 0 L L L f (x) dx = − f (s) ds + f (x) dx = 2 f (x) dx. −L
L
0
0
The proof of the corresponding property for odd functions is similar. Even and odd functions are particularly important in applications of Fourier series since their Fourier series have special forms, which occur frequently in physical problems. Cosine Series. Suppose that f and f are piecewise continuous on −L ≤ x < L, and that f is an even periodic function with period 2L. Then it follows from properties 1 and 3 that f (x) cos(nπ x/L) is even and f (x) sin(nπ x/L) is odd. As a consequence of Eqs. (5) and (6), the Fourier coefficients of f are then given by 2 L nπ x f (x) cos dx, n = 0, 1, 2, . . . ; an = L 0 L (7) n = 1, 2, . . . . bn = 0, Thus f has the Fourier series f (x) =
∞ a0 nπ x + . an cos 2 L n=1
In other words, the Fourier series of any even function consists only of the even trigonometric functions cos(nπ x/L) and the constant term; it is natural to call such a series a Fourier cosine series. From a computational point of view, observe that only the coefficients an , for n = 0, 1, 2, . . . , need to be calculated from the integral formula (7). Each of the bn , for n = 1, 2, . . . , is automatically zero for any even function, and so does not need to be calculated by integration. Sine Series. Suppose that f and f are piecewise continuous on −L ≤ x < L, and that f is an odd periodic function of period 2L. Then it follows from properties 2 and 3 that f (x) cos(nπ x/L) is odd and f (x) sin(nπ x/L) is even. In this case the Fourier coefficients of f are an = 0, 2 L nπ x dx, f (x) sin bn = L 0 L
n = 0, 1, 2, . . . , n = 1, 2, . . . ,
(8)
10.4
567
Even and Odd Functions
and the Fourier series for f is of the form f (x) =
∞
bn sin
n=1
nπ x . L
Thus the Fourier series for any odd function consists only of the odd trigonometric functions sin(nπ x/L); such a series is called a Fourier sine series. Again observe that only half of the coefficients need to be calculated by integration, since each an , for n = 0, 1, 2, . . . , is zero for any odd function.
EXAMPLE
1
Let f (x) = x, −L < x < L, and let f (−L) = f (L) = 0. Let f be defined elsewhere so that it is periodic of period 2L (see Figure 10.4.2). The function defined in this manner is known as a sawtooth wave. Find the Fourier series for this function. Since f is an odd function, its Fourier coefficients are, according to Eq. (8), an = 0,
n = 0, 1, 2, . . . ; L
nπ x dx L 0 2 L 2 nπ x L nπ x nπ x = sin − cos L nπ L L L
bn =
2 L
x sin
0
2L (−1)n+1 , = nπ
n = 1, 2, . . . .
Hence the Fourier series for f , the sawtooth wave, is f (x) =
∞ nπ x (−1)n+1 2L sin . π n=1 n L
(9)
Observe that the periodic function f is discontinuous at the points ±L , ±3L , . . . , as shown in Figure 10.4.2. At these points the series (9) converges to the mean value of the left and right limits, namely, zero. The partial sum of the series (9) for n = 9 is shown in Figure 10.4.3. The Gibbs phenomenon (mentioned in Section 10.3) again occurs near the points of discontinuity.
y L
–3L
–2L
L
–L
2L
–L
FIGURE 10.4.2 Sawtooth wave.
3L
x
568
Chapter 10. Partial Differential Equations and Fourier Series y L
L
–L
–2L
2L
x
n=9
–L
FIGURE 10.4.3 A partial sum in the Fourier series, Eq. (9), for the sawtooth wave.
Note that in this example f (−L) = f (L) = 0, as well as f (0) = 0. This is required if the function f is to be both odd and periodic with period 2L. When we speak of constructing a sine series for a function defined on 0 ≤ x ≤ L, it is understood that, if necessary, we must first redefine the function to be zero at x = 0 and x = L. It is worthwhile to observe that the triangular wave function (Example 1 of Section 10.2) and the sawtooth wave function just considered are identical on the interval 0 ≤ x < L. Therefore, their Fourier series converge to the same function, f (x) = x, on this interval. Thus, if it is required to represent the function f (x) = x on 0 ≤ x < L by a Fourier series, it is possible to do this by either a cosine series or a sine series. In the former case f is extended as an even function into the interval −L < x < 0 and elsewhere periodically (the triangular wave). In the latter case f is extended into −L < x < 0 as an odd function, and elsewhere periodically (the sawtooth wave). If f is extended in any other way, the resulting Fourier series will still converge to x in 0 ≤ x < L but will involve both sine and cosine terms. In solving problems in differential equations it is often useful to expand in a Fourier series of period 2L a function f originally defined only on the interval [0, L]. As indicated previously for the function f (x) = x several alternatives are available. Explicitly, we can: 1.
2.
Define a function g of period 2L so that f (x), g(x) = f (−x),
0 ≤ x ≤ L, −L < x < 0.
(10)
The function g is thus the even periodic extension of f . Its Fourier series, which is a cosine series, represents f on [0, L]. Define a function h of period 2L so that f (x), 0 < x < L, h(x) = (11) 0, x = 0, L , − f (−x), −L < x < 0. The function h is thus the odd periodic extension of f . Its Fourier series, which is a sine series, also represents f on (0, L).
10.4
569
Even and Odd Functions
3.
Define a function k of period 2L so that k(x) = f (x),
0 ≤ x ≤ L,
(12)
and let k(x) be defined for (−L , 0) in any way consistent with the conditions of Theorem 10.3.1. Sometimes it is convenient to define k(x) to be zero for −L < x < 0. The Fourier series for k, which involves both sine and cosine terms, also represents f on [0, L], regardless of the manner in which k(x) is defined in (−L , 0). Thus there are infinitely many such series, all of which converge to f (x) in the original interval. Usually, the form of the expansion to be used will be dictated (or at least suggested) by the purpose for which it is needed. However, if there is a choice as to the kind of Fourier series to be used, the selection can sometimes be based on the rapidity of convergence. For example, the cosine series for the triangular wave [Eq. (20) of Section 10.2] converges more rapidly than the sine series for the sawtooth wave [Eq. (9) in this section], although both converge to the same function for 0 ≤ x < L. This is due to the fact that the triangular wave is a smoother function than the sawtooth wave and is therefore easier to approximate. In general, the more continuous derivatives possessed by a function over the entire interval −∞ < x < ∞, the faster its Fourier series will converge. See Problem 18 of Section 10.3.
Suppose that
1 − x, f (x) = 0,
EXAMPLE
2
0 < x ≤ 1, 1 < x ≤ 2.
(13)
As indicated previously, we can represent f either by a cosine series or by a sine series. Sketch the graph of the sum of each of these series for −6 ≤ x ≤ 6. In this example L = 2, so the cosine series for f converges to the even periodic extension of f of period 4, whose graph is sketched in Figure 10.4.4. Similarly, the sine series for f converges to the odd periodic extension of f of period 4. The graph of this function is shown in Figure 10.4.5. y 1 –6
–4
–2
2
4
6
x
–1
FIGURE 10.4.4 Even periodic extension of f (x) given by Eq. (13). y 1 –6
–4
–2
2
4
6
x
–1
FIGURE 10.4.5 Odd periodic extension of f (x) given by Eq. (13).
570
Chapter 10. Partial Differential Equations and Fourier Series
PROBLEMS
In each of Problems 1 through 6 determine whether the given function is even, odd, or neither. 1. x 3 − 2x 4. sec x
2. x 3 − 2x + 1 5. |x|3
3. tan 2x 6. e−x
In each of Problems 7 through 12 a function f is given on an interval of length L. In each case sketch the graphs of the even and odd extensions of f of period 2L. x, 0 ≤ x < 2, 0, 0 ≤ x < 1, 7. f (x) = 8. f (x) = 1, 2 ≤ x < 3 x − 1, 1 ≤ x < 2 9. f (x) = 2 − x, 0<x <2 10. f (x) = x − 3, 0<x <4 0, 0 ≤ x < 1, 11. f (x) = 12. f (x) = 4 − x 2 , 0<x <1 1, 1 ≤ x < 2 13. Prove that any function can be expressed as the sum of two other functions, one of which is even and the other odd. That is, for any function f , whose domain contains −x whenever it contains x, show that there is an even function g and an odd function h such that f (x) = g(x) + h(x). Hint: Assuming f (x) = g(x) + h(x), what is f (−x)? 14. Find the coefficients in the cosine and sine series described in Example 2. In each of Problems 15 through 22 find the required Fourier series for the given function and sketch the graph of the function to which the series converges over three periods. 1, 0 < x < 1, 15. f (x) = cosine series, period 4 0, 1 < x < 2; Compare with Example 1 and Problem 5 of Section 10.3. x, 0 ≤ x < 1, 16. f (x) = sine series, period 4 1, 1 ≤ x < 2; 17. f (x) = 1, 0 ≤ x ≤ π; cosine series, period 2π 18. f (x) = 1, 0 < x < π; sine series, period 2π 0, 0 < x < π, 19. f (x) = 1, sine series, period 6π π < x < 2π, 2, 2π < x < 3π 20. f (x) = x, 0 ≤ x < 1; series of period 1 21. f (x) = L − x, 0 ≤ x ≤ L; cosine series, period 2L Compare with Example 1 of Section 10.2. 22. f (x) = L − x, 0 < x < L; sine series, period 2L In each of Problems 23 through 26:
䉴 䉴 䉴 䉴
(a) Find the required Fourier series for the given function. (b) Sketch the graph of the function to which the series converges for three periods. (c) Plot one or more partial sums of the series. x, 0 < x < π, 23. f (x) = cosine series, period 4π 0, π < x < 2π ; 24. f (x) = −x, −π < x < 0; sine series, period 2π 25. f (x) = 2 − x 2 , 0 < x < 2; sine series, period 4 26. f (x) = x 2 − 2x, 0 < x < 4; cosine series, period 8 In each of Problems 27 through 30 a function is given on an interval 0 < x < L. (a) Sketch the graphs of the even extension g(x) and the odd extension h(x) of the given function of period 2L over three periods.
10.4
571
Even and Odd Functions
(b) Find the Fourier cosine and sine series for the given function. (c) Plot a few partial sums of each series. (d) For each series investigate the dependence on n of the maximum error on [0, L]. x, 0 < x < 1, 0<x <3 䉴 27. f (x) = 3 − x, 䉴 28. f (x) = 0, 1 < x < 2 0<x <2 䉴 29. f (x) = (4x 2 − 4x − 3)/4,
䉴 30. f (x) = x 3 − 5x 2 + 5x + 1,
0<x <3
31. Prove that if f is an odd function, then L −L
f (x) d x = 0.
32. Prove properties 2 and 3 of even and odd functions, as stated in the text. 33. Prove that the derivative of an even function is odd, and that the derivative of an odd function is even. x f (t) dt. Show that if f is even, then F is odd, and that if f is odd, then 34. Let F(x) = 0
F is even. 35. From the Fourier series for the square wave in Example 1 of Section 10.3, show that ∞ π (−1)n 1 1 1 = 1 − + − + ··· = . 4 3 5 7 2n + 1 n=0
This relation between π and the odd positive integers was discovered by Leibniz in 1674. 36. From the Fourier series for the triangular wave (Example 1 of Section 10.2), show that ∞ π2 1 1 1 . = 1 + 2 + 2 + ··· = 8 3 5 (2n + 1)2 n=0
37. Assume that f has a Fourier sine series f (x) =
∞
0 ≤ x ≤ L.
bn sin(nπ x/L),
n=1
(a) Show formally that 2 L
L
[ f (x)]2 d x =
0
∞
bn2 .
n=1
Compare this result with that of Problem 17 in Section 10.3. What is the corresponding result if f has a cosine series? (b) Apply the result of part (a) to the series for the sawtooth wave given in Eq. (9), and thereby show that ∞ 1 1 1 π2 . = 1+ 2 + 2 + ··· = 2 6 2 3 n n=1
This relation was discovered by Euler about 1735. More Specialized Fourier Series. Let f be a function originally defined on 0 ≤ x ≤ L. In this section we have shown that it is possible to represent f either by a sine series or by a cosine series by constructing odd or even periodic extensions of f , respectively. Problems 38 through 40 concern some other more specialized Fourier series that converge to the given function f on (0, L).
572
Chapter 10. Partial Differential Equations and Fourier Series
38. Let f be extended into (L , 2L] in an arbitrary manner. Then extend the resulting function into (−2L , 0) as an odd function and elsewhere as a periodic function of period 4L (see Figure 10.4.6). Show that this function has a Fourier sine series in terms of the functions sin(nπ x/2L), n = 1, 2, 3, . . . ; that is, f (x) =
∞
bn sin(nπ x/2L),
n=1
where bn =
1 L
2L
f (x) sin(nπ x/2L) d x.
0
This series converges to the original function on (0, L).
y
–2L
y
–L L
2L x
–2 L
FIGURE 10.4.6 Graph of the function in Problem 38.
–L
L
2L x
FIGURE 10.4.7 Graph of the function in Problem 39.
39. Let f first be extended into (L , 2L) so that it is symmetric about x = L; that is, so as to satisfy f (2L − x) = f (x) for 0 ≤ x < L. Let the resulting function be extended into (−2L , 0) as an odd function and elsewhere (see Figure 10.4.7) as a periodic function of period 4L. Show that this function has a Fourier series in terms of the functions sin(π x/2L), sin(3π x/2L), sin(5π x/2L), . . . ; that is, f (x) =
∞
bn sin
n=1
where bn =
2 L
L 0
f (x) sin
(2n − 1)π x , 2L
(2n − 1)π x d x. 2L
This series converges to the original function on (0, L]. 40. How should f , originally defined on [0, L], be extended so as to obtain a Fourier series involving only the functions cos(π x/2L), cos(3π x/2L), cos(5π x/2L), . . .? Refer to Problems 38 and 39. If f (x) = x for 0 ≤ x ≤ L, sketch the function to which the Fourier series converges for −4L ≤ x ≤ 4L.
10.5
573
Separation of Variables; Heat Conduction in a Rod
10.5 Separation of Variables; Heat Conduction in a Rod The basic partial differential equations of heat conduction, wave propagation, and potential theory that we discuss in this chapter are associated with three distinct types of physical phenomena: diffusive processes, oscillatory processes, and time independent or steady processes. Consequently, they are of fundamental importance in many branches of physics. They are also of considerable significance from a mathematical point of view. The partial differential equations whose theory is best developed and whose applications are most significant and varied are the linear equations of second order. All such equations can be classified into one of three categories; the heat conduction equation, the wave equation, and the potential equation, respectively, are prototypes of each of these categories. Thus a study of these three equations yields much information about more general second order linear partial differential equations. During the last two centuries several methods have been developed for solving partial differential equations. The method of separation of variables is the oldest systematic method, having been used by D’Alembert, Daniel Bernoulli, and Euler in about 1750 in their investigations of waves and vibrations. It has been considerably refined and generalized in the meantime, and remains a method of great importance and frequent use today. To show how the method of separation of variables works we consider first a basic problem of heat conduction in a solid body. The mathematical study of heat conduction originated6 about 1800, and it continues to command the attention of modern scientists. For example, the analysis of the dissipation and transfer of heat away from its sources in high-speed machinery is frequently an important technological problem. Let us now consider a heat conduction problem for a straight bar of uniform cross section and homogeneous material. Let the x-axis be chosen to lie along the axis of the bar, and let x = 0 and x = L denote the ends of the bar (see Figure 10.5.1). Suppose further that the sides of the bar are perfectly insulated so that no heat passes through them. We also assume that the cross-sectional dimensions are so small that the temperature u can be considered as constant on any given cross section. Then u is a function only of the axial coordinate x and the time t.
u(x, t)
x x=0
x=L
FIGURE 10.5.1 A heat-conducting solid bar. 6
The first important investigation of heat conduction was carried out by Joseph Fourier (1768 –1830) while he was serving as prefect of the department of Ise`re (Grenoble) from 1801 to 1815. He presented basic papers on the subject to the Academy of Sciences of Paris in 1807 and 1811. However, these papers were criticized by the referees (principally Lagrange) for lack of rigor and so were not published. Fourier continued to develop his ideas and eventually wrote one of the classics of applied mathematics, The´orie analytique de la chaleur, published in 1822.
574
Chapter 10. Partial Differential Equations and Fourier Series
The variation of temperature in the bar is governed by a partial differential equation whose derivation appears in Appendix A at the end of the chapter. The equation is called the heat conduction equation, and has the form α2u x x = u t ,
0 < x < L,
t > 0,
(1)
where α 2 is a constant known as the thermal diffusivity. The parameter α 2 depends only on the material from which the bar is made, and is defined by α 2 = κ/ρs,
(2)
where κ is the thermal conductivity, ρ is the density, and s is the specific heat of the material in the bar. The units of α 2 are (length)2 /time. Typical values of α 2 are given in Table 10.5.1. TABLE 10.5.1 Values of the Thermal Diffusivity for Some Common Materials α 2 (cm2 /sec)
Material Silver Copper Aluminum Cast iron Granite Brick Water
1.71 1.14 0.86 0.12 0.011 0.0038 0.00144
In addition, we assume that the initial temperature distribution in the bar is given; thus u(x, 0) = f (x),
0 ≤ x ≤ L,
(3)
where f is a given function. Finally, we assume that the ends of the bar are held at fixed temperatures: the temperature T1 at x = 0 and the temperature T2 at x = L. However, it turns out that we need only consider the case where T1 = T2 = 0. We show in Section 10.6 how to reduce the more general problem to this special case. Thus in this section we will assume that u is always zero when x = 0 or x = L: u(0, t) = 0,
u(L , t) = 0,
t > 0.
(4)
The fundamental problem of heat conduction is to find u(x, t) that satisfies the differential equation (1) for 0 < x < L and for t > 0, the initial condition (3) when t = 0, and the boundary conditions (4) at x = 0 and x = L. The problem described by Eqs. (1), (3), and (4) is an initial value problem in the time variable t; an initial condition is given and the differential equation governs what happens later. However, with respect to the space variable x, the problem is a boundary value problem; boundary conditions are imposed at each end of the bar and the differential equation describes the evolution of the temperature in the interval between them. Alternatively, we can consider the problem as a boundary value problem in the xt-plane (see Figure 10.5.2). The solution u(x, t) of Eq. (1) is sought in the semiinfinite strip 0 < x < L, t > 0 subject to the requirement that u(x, t) must assume a prescribed value at each point on the boundary of this strip.
10.5
575
Separation of Variables; Heat Conduction in a Rod t
u(0, t) = 0
x=L
α 2uxx = ut
u(x, 0) = f (x)
u(L, t) = 0
x
FIGURE 10.5.2 Boundary value problem for the heat conduction equation.
The heat conduction problem (1), (3), (4) is linear since u appears only to the first power throughout. The differential equation and boundary conditions are also homogeneous. This suggests that we might approach the problem by seeking solutions of the differential equation and boundary conditions, and then superposing them to satisfy the initial condition. The remainder of this section describes how this plan can be implemented. One solution of the differential equation (1) that satisfies the boundary conditions (4) is the function u(x, t) = 0, but this solution does not satisfy the initial condition (3) except in the trivial case in which f (x) is also zero. Thus our goal is to find other, nonzero, solutions of the differential equation and boundary conditions. To find the needed solutions, we start by making a basic assumption about the form of the solutions that has far-reaching, and perhaps unforeseen, consequences. The assumption is that u(x, t) is a product of two other functions, one depending only on x and the other depending only on t; thus u(x, t) = X (x)T (t).
(5)
Substituting from Eq. (5) for u in the differential equation (1) yields α 2 X T = X T ,
(6)
where primes refer to ordinary differentiation with respect to the independent variable, whether x or t. Equation (6) is equivalent to 1 T X = 2 , (7) X α T in which the variables are separated; that is, the left side depends only on x and the right side only on t. For Eq. (7) to be valid for 0 < x < L, t > 0, it is necessary that both sides of Eq. (7) be equal to the same constant. Otherwise, by keeping one independent variable (say, x) fixed and varying the other, one side (the left in this case) of Eq. (7) would remain unchanged while the other varied, thus violating the equality. If we call this separation constant −λ, then Eq. (7) becomes 1 T X = 2 = −λ. X α T
(8)
576
Chapter 10. Partial Differential Equations and Fourier Series
Hence we obtain the following two ordinary differential equations for X (x) and T (t): X + λX = 0, T + α 2 λT = 0.
(9) (10)
We denote the separation constant by −λ (rather than λ) because it turns out that it must be negative, and it is convenient to exhibit the minus sign explicitly. The assumption (5) has led to the replacement of the partial differential equation (1) by the two ordinary differential equations (9) and (10). Each of these equations can be readily solved for any value of λ. The product of two solutions of Eq. (9) and (10), respectively, provides a solution of the partial differential equation (1). However, we are interested only in those solutions of Eq. (1) that also satisfy the boundary conditions (4). As we now show, this severely restricts the possible values of λ. Substituting for u(x, t) from Eq. (5) in the boundary condition at x = 0, we obtain u(0, t) = X (0)T (t) = 0.
(11)
If Eq. (11) is satisfied by choosing T (t) to be zero for all t, then u(x, t) is zero for all x and t, and we have already rejected this possibility. Therefore Eq. (11) must be satisfied by requiring that X (0) = 0.
(12)
Similarly, the boundary condition at x = L requires that X (L) = 0.
(13)
We now want to consider Eq. (9) subject to the boundary conditions (12) and (13). This is an eigenvalue problem and, in fact, is the same problem that we discussed in detail at the end of Section 10.1; see especially the paragraph following Eq. (29) in that section. The only difference is that the dependent variable there was called y rather than X . If we refer to the results obtained earlier [Eq. (31) of Section 10.1], the only nontrivial solutions of Eqs. (9), (12), and (13) are the eigenfunctions X n (x) = sin(nπ x/L),
n = 1, 2, 3, . . . ,
(14)
associated with the eigenvalues λn = n 2 π 2 /L 2 ,
n = 1, 2, 3, . . . .
(15)
Turning now to Eq. (10) for T (t) and substituting n π /L for λ, we have 2
2
2
T + (n 2 π 2 α 2 /L 2 )T = 0.
(16)
Thus T (t) is proportional to exp(−n 2 π 2 α 2 t/L 2 ). Hence, multiplying solutions of Eqs. (9) and (10) together, and neglecting arbitrary constants of proportionality, we conclude that the functions u n (x, t) = e−n
2 π 2 α 2 t/L 2
sin(nπ x/L),
n = 1, 2, 3, . . .
(17)
satisfy the partial differential equation (1) and the boundary conditions (4) for each positive integer value of n. The functions u n are sometimes called fundamental solutions of the heat conduction problem (1), (3), and (4). It remains only to satisfy the initial condition (3), u(x, 0) = f (x),
0 ≤ x ≤ L.
(18)
10.5
577
Separation of Variables; Heat Conduction in a Rod
Recall that we have often solved initial value problems by forming linear combinations of a set of fundamental solutions, and then choosing the coefficients to satisfy the initial conditions. The analogous step in the present problem is to form a linear combination of the functions (17) and then to choose the coefficients to satisfy Eq. (18). The main difference now from earlier problems is that there are infinitely many functions (17), so a general linear combination of them is an infinite series. Thus we assume that ∞ ∞ 2 2 2 2 nπ x cn u n (x, t) = cn e−n π α t/L sin u(x, t) = , (19) L n=1 n=1 where the coefficients cn are as yet undetermined. The individual terms in the series (19) satisfy the differential equation (1) and boundary conditions (4). We will assume that the infinite series of Eq. (19) converges and also satisfies Eqs. (1) and (4). To satisfy the initial condition (3) we must have ∞ nπ x cn sin = f (x). (20) u(x, 0) = L n=1 In other words, we need to choose the coefficients cn so that the series of sine functions in Eq. (20) converges to the initial temperature distribution f (x) for 0 ≤ x ≤ L. The series in Eq. (20) is just the Fourier sine series for f ; according to Eq. (8) of Section 10.4 its coefficients are given by 2 L nπ x f (x) sin dx. (21) cn = L 0 L Hence the solution of the heat conduction problem of Eqs. (1), (3), and (4) is given by the series in Eq. (19) with the coefficients computed from Eq. (21).
EXAMPLE
1
Find the temperature u(x, t) at any time in a metal rod 50 cm long, insulated on the sides, which initially has a uniform temperature of 20◦ C throughout, and whose ends are maintained at 0◦ C for all t > 0. The temperature in the rod satisfies the heat conduction problem (1), (3), (4) with L = 50 and f (x) = 20 for 0 < x < 50. Thus, from Eq. (19), the solution is ∞ 2 2 2 nπ x , (22) cn e−n π α t/2500 sin u(x, t) = 50 n=1 where, from Eq. (21),
4 50 nπ x sin dx 5 0 50 40 80/nπ, (1 − cos nπ) = = 0, nπ
cn =
n odd; n even.
(23)
Finally, by substituting for cn in Eq. (22) we obtain u(x, t) =
∞ 80 nπ x 1 −n 2 π 2 α2 t/2500 sin e . π n=1,3,5,... n 50
(24)
The expression (24) for the temperature is moderately complicated, but the negative exponential factor in each term of the series causes the series to converge quite rapidly,
578
Chapter 10. Partial Differential Equations and Fourier Series
except for small values of t or α 2 . Therefore accurate results can usually be obtained by using only a few terms of the series. In order to display quantitative results let us measure t in seconds; then α 2 has the units of cm2 /sec. If we choose α 2 = 1 for convenience, this corresponds to a rod of a material whose thermal properties are somewhere between copper and aluminum. The behavior of the solution can be seen from the graphs in Figures 10.5.3 through 10.5.5. In Figure 10.5.3 we show the temperature distribution in the bar at several different times. Observe that the temperature diminishes steadily as heat in the bar is lost through the endpoints. The way in which the temperature decays at a given point in the bar is indicated in Figure 10.5.4, where temperature is plotted against time for a few selected points in the bar. Finally, Figure 10.5.5 is a three-dimensional plot of u versus both x and t. Observe that the graphs in Figures 10.5.3 and 10.5.4 are obtained by intersecting the surface in Figure 10.5.5 by planes on which either t or x is constant. The slight waviness in Figure 10.5.5 at t = 0 results from using only a finite number of terms in the series for u(x, t) and from the slow convergence of the series for t = 0. u 20
t=0 t = 20 t = 50
15
t = 150
10
t = 300
5
10
20
30
40
50
x
FIGURE 10.5.3 Temperature distributions at several times for the heat conduction problem of Example 1. u 20
15 x=5 10
x = 15
x = 25
5
100
200
300
400
500
t
FIGURE 10.5.4 Dependence of temperature on time at several locations for the heat conduction problem of Example 1.
10.5
579
Separation of Variables; Heat Conduction in a Rod u 20 15 10 5 10
50
20
100
30
150
40
200 300
50 x
t
FIGURE 10.5.5 Plot of temperature u versus x and t for the heat conduction problem of Example 1.
A question with possible practical implications is to determine the time τ at which the entire bar has cooled to a specified temperature. For example, when is the temperature in the entire bar no greater than 1◦ C? Because of the symmetry of the initial temperature distribution and the boundary conditions, the warmest point in the bar is always the center. Thus, τ is found by solving u(25, t) = 1 for t. Using one term in the series expansion (24), we obtain τ=
PROBLEMS
2500 ln(80/π) ∼ = 820 sec. π2
In each of Problems 1 through 6 determine whether the method of separation of variables can be used to replace the given partial differential equation by a pair of ordinary differential equations. If so, find the equations. 1. xu x x + u t = 0 4. [ p(x)u x ]x − r (x)u tt = 0
2. tu x x + xu t = 0 5. u x x + (x + y)u yy = 0
3. u x x + u xt + u t = 0 6. u x x + u yy + xu = 0
7. Find the solution of the heat conduction problem 0 < x < 1, 100u x x = u t , u(0, t) = 0, u(1, t) = 0, u(x, 0) = sin 2π x − sin 5π x,
t > 0; t > 0; 0 ≤ x ≤ 1.
8. Find the solution of the heat conduction problem u x x = 4u t , 0 < x < 2, t > 0; u(0, t) = 0, u(2, t) = 0, t > 0; u(x, 0) = 2 sin(π x/2) − sin π x + 4 sin 2π x,
0 ≤ x ≤ 2.
Consider the conduction of heat in a rod 40 cm in length whose ends are maintained at 0◦ C for all t > 0. In each of Problems 9 through 12 find an expression for the temperature u(x, t) if the initial temperature distribution in the rod is the given function. Suppose that α 2 = 1.
580
Chapter 10. Partial Differential Equations and Fourier Series
䉴
䉴
䉴 䉴 䉴
䉴
䉴
x, 0 ≤ x < 20, 9. u(x, 0) = 50, 0 < x < 40 10. u(x, 0) = 40 − x, 20 ≤ x ≤ 40 0, 0 ≤ x < 10, 11. u(x, 0) = 50, 10 ≤ x ≤ 30, 12. u(x, 0) = x, 0 < x < 40 0, 30 < x ≤ 40 13. Consider again the rod in Problem 9. For t = 5 and x = 20 determine how many terms are needed to find the solution correct to three decimal places. A reasonable way to do this is to find n so that including one more term does not change the first three decimal places of u(20, 5). Repeat for t = 20 and t = 80. Form a conclusion about the speed of convergence of the series for u(x, t). 14. For the rod in Problem 9: (a) Plot u versus x for t = 5, 10, 20, 40, 100, and 200. Put all the graphs on the same set of axes and thereby obtain a picture of the way in which the temperature distribution changes with time. (b) Plot u versus t for x = 5, 10, 15, and 20. (c) Draw a three-dimensional plot of u versus x and t. (d) How long does it take for the entire rod to cool off to a temperature of no more than 1◦ C? 15. Follow the instructions in Problem 14 for the rod in Problem 10. 16. Follow the instructions in Problem 14 for the rod in Problem 11. 17. For the rod in Problem 12: (a) Plot u versus x for t = 5, 10, 20, 40, 100, and 200. (b) For each value of t used in part (a) estimate the value of x for which the temperature is greatest. Plot these values versus t to see how the location of the warmest point in the rod changes with time. (c) Plot u versus t for x = 10, 20, and 30. (d) Draw a three-dimensional plot of u versus x and t. (e) How long does it take for the entire rod to cool off to a temperature of no more than 1◦ C? 18. Let a metallic rod 20 cm long be heated to a uniform temperature of 100◦ C. Suppose that at t = 0 the ends of the bar are plunged into an ice bath at 0◦ C, and thereafter maintained at this temperature, but that no heat is allowed to escape through the lateral surface. Find an expression for the temperature at any point in the bar at any later time. Determine the temperature at the center of the bar at time t = 30 sec if the bar is made of (a) silver, (b) aluminum, or (c) cast iron. 19. For the rod of Problem 18 find the time that will elapse before the center of the bar cools to a temperature of 5◦ C if the bar is made of (a) silver, (b) aluminum, or (c) cast iron. 20. In solving differential equations the computations can almost always be simplified by the use of dimensionless variables. Show that if the dimensionless variable ξ = x/L is introduced, the heat conduction equation becomes L 2 ∂u ∂ 2u = , ∂ξ 2 α 2 ∂t
0 < ξ < 1,
t > 0.
Since L 2 /α 2 has the units of time, it is convenient to use this quantity to define a dimensionless time variable τ = (α 2 /L 2 )t. Then show that the heat conduction equation reduces to ∂u ∂ 2u = , 2 ∂τ ∂ξ
0 < ξ < 1,
τ > 0.
21. Consider the equation au x x − bu t + cu = 0, where a, b, and c are constants.
(i)
10.6
581
Other Heat Conduction Problems
(a) Let u(x, t) = eδt w(x, t), where δ is constant, and find the corresponding partial differential equation for w. (b) If b = 0, show that δ can be chosen so that the partial differential equation found in part (a) has no term in w. Thus, by a change of dependent variable, it is possible to reduce Eq. (i) to the heat conduction equation. 22. The heat conduction equation in two space dimensions is α 2 (u x x + u yy ) = u t . Assuming that u(x, y, t) = X (x)Y (y)T (t), find ordinary differential equations satisfied by X (x), Y (y), and T (t). 23. The heat conduction equation in two space dimensions may be expressed in terms of polar coordinates as α 2 [u rr + (1/r )u r + (1/r 2 )u θθ ] = u t . Assuming that u(r, θ, t) = R(r )(θ )T (t), find ordinary differential equations satisfied by R(r ), (θ ), and T (t).
10.6 Other Heat Conduction Problems In Section 10.5 we considered the problem consisting of the heat conduction equation α2u x x = u t ,
0 < x < L,
t > 0,
(1)
u(L , t) = 0,
t > 0,
(2)
the boundary conditions u(0, t) = 0, and the initial condition u(x, 0) = f (x),
0 ≤ x ≤ L.
(3)
We found the solution to be u(x, t) =
∞
cn e−n
2 π 2 α 2 t/L 2
sin
n=1
nπ x , L
(4)
where the coefficients cn are the same as in the series f (x) =
∞ n=1
cn sin
nπ x . L
(5)
The series in Eq. (5) is just the Fourier sine series for f ; according to Section 10.4 its coefficients are given by 2 L nπ x dx. (6) f (x) sin cn = L 0 L Hence the solution of the heat conduction problem, Eqs. (1) to (3), is given by the series in Eq. (4) with the coefficients computed from Eq. (6). We emphasize that at this stage the solution (4) must be regarded as a formal solution; that is, we obtained it without rigorous justification of the limiting processes involved.
582
Chapter 10. Partial Differential Equations and Fourier Series
Such a justification is beyond the scope of this book. However, once the series (4) has been obtained, it is possible to show that in 0 < x < L, t > 0 it converges to a continuous function, that the derivatives u x x and u t can be computed by differentiating the series (4) term by term, and that the heat conduction equation (1) is indeed satisfied. The argument rests heavily on the fact that each term of the series (4) contains a negative exponential factor, and this results in relatively rapid convergence of the series. A further argument establishes that the function u given by Eq. (4) also satisfies the boundary and initial conditions; this completes the justification of the formal solution. It is interesting to note that although f satisfies the conditions of the Fourier convergence theorem (Theorem 10.3.1), it may have points of discontinuity. In this case the initial temperature distribution u(x, 0) = f (x) is discontinuous at one or more points. Nevertheless, the solution u(x, t) is continuous for arbitrarily small values of t > 0. This illustrates the fact that heat conduction is a diffusive process that instantly smooths out any discontinuities that may be present in the initial temperature distribution. Finally, since f is bounded, it follows from Eq. (6) that the coefficients cn are also bounded. Consequently, the presence of the negative exponential factor in each term of the series (4) guarantees that lim u(x, t) = 0
(7)
t→∞
for all x regardless of the initial condition. This is in accord with the result expected from physical intuition. We now consider two other problems of one-dimensional heat conduction that can be handled by the method developed in Section 10.5. Nonhomogeneous Boundary Conditions. Suppose now that one end of the bar is held at a constant temperature T1 and the other is maintained at a constant temperature T2 . Then the boundary conditions are u(0, t) = T1 ,
u(L , t) = T2 ,
t > 0.
(8)
The differential equation (1) and the initial condition (3) remain unchanged. This problem is only slightly more difficult, because of the nonhomogeneous boundary conditions, than the one in Section 10.5. We can solve it by reducing it to a problem having homogeneous boundary conditions, which can then be solved as in Section 10.5. The technique for doing this is suggested by the following physical argument. After a long time, that is, as t → ∞, we anticipate that a steady temperature distribution v(x) will be reached, which is independent of the time t and the initial conditions. Since v(x) must satisfy the equation of heat conduction (1), we have v (x) = 0,
0 < x < L.
(9)
Hence the steady-state temperature distribution is a linear function of x. Further, v(x) must satisfy the boundary conditions v(0) = T1 ,
v(L) = T2 ,
(10)
which are valid even as t → ∞. The solution of Eq. (9) satisfying Eqs. (10) is v(x) = (T2 − T1 )
x + T1 . L
(11)
10.6
583
Other Heat Conduction Problems
Returning to the original problem, Eqs. (1), (3), and (8), we will try to express u(x, t) as the sum of the steady-state temperature distribution v(x) and another (transient) temperature distribution w(x, t); thus we write u(x, t) = v(x) + w(x, t).
(12)
Since v(x) is given by Eq. (11), the problem will be solved provided we can determine w(x, t). The boundary value problem for w(x, t) is found by substituting the expression in Eq. (12) for u(x, t) in Eqs. (1), (3), and (8). From Eq. (1) we have α 2 (v + w)x x = (v + w)t ; it follows that α 2 wx x = wt ,
(13)
since vx x = 0 and vt = 0. Similarly, from Eqs. (12), (8), and (10), w(0, t) = u(0, t) − v(0) = T1 − T1 = 0, w(L , t) = u(L , t) − v(L) = T2 − T2 = 0.
(14)
Finally, from Eqs. (12) and (3), w(x, 0) = u(x, 0) − v(x) = f (x) − v(x),
(15)
where v(x) is given by Eq. (11). Thus the transient part of the solution to the original problem is found by solving the problem consisting of Eqs. (13), (14), and (15). This latter problem is precisely the one solved in Section 10.5 provided that f (x) − v(x) is now regarded as the initial temperature distribution. Hence u(x, t) = (T2 − T1 ) where 2 cn = L
0
L
∞ 2 2 2 2 x nπ x + T1 + , cn e−n π α t/L sin L L n=1
f (x) − (T2 − T1 )
nπ x x − T1 sin dx. L L
(16)
(17)
This is another case in which a more difficult problem is solved by reducing it to a simpler problem that has already been solved. The technique of reducing a problem with nonhomogeneous boundary conditions to one with homogeneous boundary conditions by subtracting the steady-state solution is capable of wide application.
Consider the heat conduction problem EXAMPLE
1
0 < x < 30, t > 0, u x x = ut , u(0, t) = 20, u(30, t) = 50, t > 0, u(x, 0) = 60 − 2x, 0 < x < 30.
(18) (19) (20)
Find the steady-state temperature distribution and the boundary value problem that determines the transient distribution.
584
Chapter 10. Partial Differential Equations and Fourier Series
The steady-state temperature satisfies v (x) = 0 and the boundary conditions v(0) = 20 and v(30) = 50. Thus v(x) = 20 + x. The transient distribution w(x, t) satisfies the heat conduction equation wx x = wt ,
(21)
the homogeneous boundary conditions w(0, t) = 0,
w(30, t) = 0,
(22)
and the modified initial condition w(x, 0) = 60 − 2x − (20 + x) = 40 − 3x.
(23)
Note that this problem is of the form (1), (2), (3) with f (x) = 40 − 3x, α 2 = 1, and L = 30. Thus the solution is given by Eqs. (4) and (6). Figure 10.6.1 shows a plot of the initial temperature distribution 60 − 2x, the final temperature distribution 20 + x, and the temperature at two intermediate times found by solving Eqs. (21) through (23). Note that the intermediate temperature satisfies the boundary conditions (19) for any t > 0. As t increases, the effect of the boundary conditions gradually moves from the ends of the bar toward its center. u 60 t=0
50
t→∞
40 t = 25
30
t=3 20 10 5
10
15
20
25
30
x
FIGURE 10.6.1 Temperature distributions at several times for the heat conduction problem of Example 1.
Bar with Insulated Ends. A slightly different problem occurs if the ends of the bar are insulated so that there is no passage of heat through them. According to Eq. (2) in Appendix A, the rate of flow of heat across a cross section is proportional to the rate of change of temperature in the x direction. Thus in the case of no heat flow the boundary conditions are u x (0, t) = 0,
u x (L , t) = 0,
t > 0.
(24)
The problem posed by Eqs. (1), (3), and (24) can also be solved by the method of separation of variables. If we let u(x, t) = X (x)T (t),
(25)
10.6
585
Other Heat Conduction Problems
and substitute for u in Eq. (1), then it follows as in Section 10.5 that 1 T X = 2 = −λ, (26) X α T where λ is a constant. Thus we obtain again the two ordinary differential equations X + λX = 0, T + α 2 λT = 0.
(27) (28)
For any value of λ a product of solutions of Eqs. (27) and (28) is a solution of the partial differential equation (1). However, we are interested only in those solutions that also satisfy the boundary conditions (24). If we substitute for u(x, t) from Eq. (25) in the boundary condition at x = 0, we obtain X (0)T (t) = 0. We cannot permit T (t) to be zero for all t, since then u(x, t) would also be zero for all t. Hence we must have X (0) = 0.
(29)
Proceeding in the same way with the boundary condition at x = L, we find that X (L) = 0.
(30)
Thus we wish to solve Eq. (27) subject to the boundary conditions (29) and (30). It is possible to show that nontrivial solutions of this problem can exist only if λ is real. One way to show this is indicated in Problem 18; alternatively, one can appeal to a more general theory to be discussed later in Section 11.2. We will assume that λ is real and consider in turn the three cases λ < 0, λ = 0, and λ > 0. If λ < 0, it is convenient to let λ = −µ2 , where µ is real and positive. Then Eq. (27) becomes X − µ2 X = 0 and its general solution is X (x) = k1 sinh µx + k2 cosh µx.
(31)
In this case the boundary conditions can be satisfied only by choosing k1 = k2 = 0. Since this is unacceptable, it follows that λ cannot be negative; in other words, the problem (27), (29), (30) has no negative eigenvalues. If λ = 0, then Eq. (27) is X = 0, and therefore X (x) = k1 x + k2 .
(32)
The boundary conditions (29) and (30) require that k1 = 0 but do not determine k2 . Thus λ = 0 is an eigenvalue, corresponding to the eigenfunction X (x) = 1. For λ = 0 it follows from Eq. (28) that T (t) is also a constant, which can be combined with k2 . Hence, for λ = 0, we obtain the constant solution u(x, t) = k2 . Finally, if λ > 0, let λ = µ2 , where µ is real and positive. Then Eq. (27) becomes X + µ2 X = 0, and consequently X (x) = k1 sin µx + k2 cos µx.
(33)
The boundary condition (29) requires that k1 = 0, and the boundary condition (30) requires that µ = nπ/L for n = 1, 2, 3, . . . , but leaves k2 arbitrary. Thus the problem (27), (29), (30) has an infinite sequence of positive eigenvalues λ = n 2 π 2 /L 2 with the corresponding eigenfunctions X (x) = cos(nπ x/L). For these values of λ the solutions T (t) of Eq. (28) are proportional to exp(−n 2 π 2 α 2 t/L 2 ).
586
Chapter 10. Partial Differential Equations and Fourier Series
Combining all these results, we have the following fundamental solutions for the problem (1), (3), and (24): u 0 (x, t) = 1, u n (x, t) = e−n
2 π 2 α 2 t/L 2
cos
nπ x , L
n = 1, 2, . . . ,
(34)
where arbitrary constants of proportionality have been dropped. Each of these functions satisfies the differential equation (1) and the boundary conditions (24). Because both the differential equation and boundary conditions are linear and homogeneous, any finite linear combination of the fundamental solutions satisfies them. We will assume that this is true for convergent infinite linear combinations of fundamental solutions as well. Thus, to satisfy the initial condition (3), we assume that u(x, t) has the form ∞ c0 u 0 (x, t) + cn u n (x, t) 2 n=1 ∞ c 2 2 2 2 nπ x cn e−n π α t/L cos . = 0+ 2 L n=1
u(x, t) =
(35)
The coefficients cn are determined by the requirement that u(x, 0) =
∞ c0 nπ x + = f (x). cn cos 2 L n=1
(36)
Thus the unknown coefficients in Eq. (35) must be the coefficients in the Fourier cosine series of period 2L for f . Hence cn =
2 L
0
L
f (x) cos
nπ x dx, L
n = 0, 1, 2, . . . .
(37)
With this choice of the coefficients c0 , c1 , c2 , . . . , the series (35) provides the solution to the heat conduction problem for a rod with insulated ends, Eqs. (1), (3), and (24). It is worth observing that the solution (35) can also be thought of as the sum of a steady-state temperature distribution (given by the constant c0 /2), which is independent of time t, and a transient distribution (given by the rest of the infinite series) that vanishes in the limit as t approaches infinity. That the steady-state is a constant is consistent with the expectation that the process of heat conduction will gradually smooth out the temperature distribution in the bar as long as no heat is allowed to escape to the outside. The physical interpretation of the term c0 1 = 2 L
L
f (x) dx
0
is that it is the mean value of the original temperature distribution.
(38)
10.6
587
Other Heat Conduction Problems
EXAMPLE
2
Find the temperature u(x, t) in a metal rod of length 25 cm that is insulated on the ends as well as on the sides and whose initial temperature distribution is u(x, 0) = x for 0 < x < 25. The temperature in the rod satisfies the heat conduction problem (1), (3), (24) with L = 25. Thus, from Eq. (35), the solution is ∞ c0 2 2 2 nπ x cn e−n π α t/625 cos + , u(x, t) = 2 25 n=1
(39)
where the coefficients are determined from Eq. (37). We have 25 2 x dx = 25 c0 = 25 0 and, for n ≥ 1, cn =
2 25
25
x cos 0
nπ x dx 25
= 50(cos nπ − 1)/(nπ)2 =
−100/(nπ)2 , 0,
(40)
n odd; n even.
(41)
Thus ∞ 25 100 1 −n 2 π 2 α2 t/625 e cos(nπ x/25) u(x, t) = − 2 2 π n=1,3,5,... n 2
(42)
is the solution of the given problem. For α 2 = 1 Figure 10.6.2 shows plots of the temperature distribution in the bar at several times. Again the convergence of the series is rapid so that only a relatively few terms are needed to generate the graphs.
u 25
t=0 t = 10
20
t = 40 15
t = 100 t→∞
10 5
5
10
15
20
25
x
FIGURE 10.6.2 Temperature distributions at several times for the heat conduction problem of Example 2.
588
Chapter 10. Partial Differential Equations and Fourier Series
More General Problems. The method of separation of variables can also be used to solve heat conduction problems with other boundary conditions than those given by Eqs. (8) and Eqs. (24). For example, the left end of the bar might be held at a fixed temperature T while the other end is insulated. In this case the boundary conditions are u(0, t) = T,
u x (L , t) = 0,
t > 0.
(43)
The first step in solving this problem is to reduce the given boundary conditions to homogeneous ones by subtracting the steady-state solution. The resulting problem is solved by essentially the same procedure as in the problems previously considered. However, the extension of the initial function f outside of the interval [0, L] is somewhat different from that in any case considered so far (see Problem 15). A more general type of boundary condition occurs when the rate of heat flow through the end of the bar is proportional to the temperature. It is shown in Appendix A that the boundary conditions in this case are of the form u x (0, t) − h 1 u(0, t) = 0,
u x (L , t) + h 2 u(L , t) = 0,
t > 0,
(44)
where h 1 and h 2 are nonnegative constants. If we apply the method of separation of variables to the problem consisting of Eqs. (1), (3), and (44), we find that X (x) must be a solution of X + λX = 0,
X (0) − h 1 X (0) = 0,
X (L) + h 2 X (L) = 0,
(45)
where λ is the separation constant. Once again it is possible to show that nontrivial solutions can exist only for certain nonnegative real values of λ, the eigenvalues, but these values are not given by a simple formula (see Problem 20). It is also possible to show that the corresponding solutions of Eqs. (45), the eigenfunctions, satisfy an orthogonality relation, and that one can satisfy the initial condition (3) by superposing solutions of Eqs. (45). However, the resulting series is not included in the discussion of this chapter. There is more general theory that covers such problems, and it is outlined in Chapter 11.
PROBLEMS
In each of Problems 1 through 8 find the steady-state solution of the heat conduction equation α 2 u x x = u t that satisfies the given set of boundary conditions. 1. 3. 5. 7.
u(0, t) = 10, u(50, t) = 40 u x (0, t) = 0, u(L , t) = 0 u(0, t) = 0, u x (L , t) = 0 u x (0, t) − u(0, t) = 0, u(L , t) = T
2. 4. 6. 8.
u(0, t) = 30, u(40, t) = −20 u x (0, t) = 0, u(L , t) = T u(0, t) = T, u x (L , t) = 0 u(0, t) = T, u x (L , t) + u(L , t) = 0
9. Let an aluminum rod of length 20 cm be initially at the uniform temperature of 25◦ C. Suppose that at time t = 0 the end x = 0 is cooled to 0◦ C while the end x = 20 is heated to 60◦ C, and both are thereafter maintained at those temperatures. (a) Find the temperature distribution in the rod at any time t. (b) Plot the initial temperature distribution, the final (steady-state) temperature distribution, and the temperature distributions at two representative intermediate times on the same set of axes. (c) Plot u versus t for x = 5, 10, and 15. (d) Determine the time interval that must elapse before the temperature at x = 5 cm comes (and remains) within 1% of its steady-state value. 䉴 10. (a) Let the ends of a copper rod 100 cm long be maintained at 0◦ C. Suppose that the center of the bar is heated to 100◦ C by an external heat source and that this situation is maintained until a steady-state results. Find this steady-state temperature distribution.
䉴
10.6
589
Other Heat Conduction Problems
䉴 11.
䉴 12.
䉴 13.
䉴 14.
15.
(b) At a time t = 0 [after the steady-state of part (a) has been reached] let the heat source be removed. At the same instant let the end x = 0 be placed in thermal contact with a reservoir at 20◦ C while the other end remains at 0◦ C. Find the temperature as a function of position and time. (c) Plot u versus x for several values of t. Also plot u versus t for several values of x. (d) What limiting value does the temperature at the center of the rod approach after a long time? How much time must elapse before the center of the rod cools to within 1 degree of its limiting value? Consider a rod of length 30 for which α 2 = 1. Suppose the initial temperature distribution is given by u(x, 0) = x(60 − x)/30 and that the boundary conditions are u(0, t) = 30 and u(30, t) = 0. (a) Find the temperature in the rod as a function of position and time. (b) Plot u versus x for several values of t. Also plot u versus t for several values of x. (c) Plot u versus t for x = 12. Observe that u initially decreases, then increases for a while, and finally decreases to approach its steady-state value. Explain physically why this behavior occurs at this point. Consider a uniform rod of length L with an initial temperature given by u(x, 0) = sin(π x/L), 0 ≤ x ≤ L. Assume that both ends of the bar are insulated. (a) Find the temperature u(x, t). (b) What is the steady-state temperature as t → ∞? (c) Let α 2 = 1 and L = 40. Plot u versus x for several values of t. Also plot u versus t for several values of x. (d) Describe briefly how the temperature in the rod changes as time progresses. Consider a bar of length 40 cm whose initial temperature is given by u(x, 0) = x(60 − x)/30. Suppose that α 2 = 1/4 cm2 /sec and that both ends of the bar are insulated. (a) Find the temperature u(x, t). (b) Plot u versus x for several values of t. Also plot u versus t for several values of x. (c) Determine the steady-state temperature in the bar. (d) Determine how much time must elapse before the temperature at x = 40 comes within 1 degree of its steady-state value. Consider a bar 30 cm long that is made of a material for which α 2 = 1 and whose ends are insulated. Suppose that the initial temperature is zero except for the interval 5 < x < 10, where the initial temperature is 25◦ . (a) Find the temperature u(x, t). (b) Plot u versus x for several values of t. Also plot u versus t for several values of x. (c) Plot u(4, t) and u(11, t) versus t. Observe that the points x = 4 and x = 11 are symmetrically located with respect to the initial temperature pulse, yet their temperature plots are significantly different. Explain physically why this is so. Consider a uniform bar of length L having an initial temperature distribution given by f (x), 0 ≤ x ≤ L. Assume that the temperature at the end x = 0 is held at 0◦ C, while the end x = L is insulated so that no heat passes through it. (a) Show that the fundamental solutions of the partial differential equation and boundary conditions are 2 π 2 α 2 t/4L 2
u n (x, t) = e−(2n−1)
sin[(2n − 1)π x/2L],
n = 1, 2, 3, . . . .
(b) Find a formal series expansion for the temperature u(x, t), u(x, t) =
∞
cn u n (x, t),
n=1
that also satisfies the initial condition u(x, 0) = f (x). Hint: Even though the fundamental solutions involve only the odd sines, it is still possible
590
Chapter 10. Partial Differential Equations and Fourier Series
to represent f by a Fourier series involving only these functions. See Problem 39 of Section 10.4. 䉴 16. In the bar of Problem 15 suppose that L = 30, α 2 = 1, and the initial temperature distribution is f (x) = 30 − x for 0 < x < 30. (a) Find the temperature u(x, t). (b) Plot u versus x for several values of t. Also plot u versus t for several values of x. (c) How does the location xm of the warmest point in the bar change as t increases? Draw a graph of xm versus t. (d) Plot the maximum temperature in the bar versus t. 䉴 17. Suppose that the conditions are as in Problems 15 and 16 except that the boundary condition at x = 0 is u(0, t) = 40. (a) Find the temperature u(x, t). (b) Plot u versus x for several values of t. Also plot u versus t for several values of x. (c) Compare the plots you obtained in this problem with those from Problem 16. Explain how the change in the boundary condition at x = 0 causes the observed differences in the behavior of the temperature in the bar. 18. Consider the problem X + λX = 0,
X (0) = 0,
X (L) = 0.
(i)
Let λ = µ2 , where µ = ν + iσ with ν and σ real. Show that if σ = 0, then the only solution of Eqs. (i) is the trivial solution X (x) = 0. Hint: Use an argument similar to that in Problem 17 of Section 10.1. 19. The right end of a bar of length a with thermal conductivity κ1 and cross-sectional area A1 is joined to the left end of a bar of thermal conductivity κ2 and cross-sectional area A2 . The composite bar has a total length L. Suppose that the end x = 0 is held at temperature zero, while the end x = L is held at temperature T . Find the steady-state temperature in the composite bar, assuming that the temperature and rate of heat flow are continuous at x = a. Hint: See Eq. (2) of Appendix A. 20. Consider the problem 0 < x < L , t > 0; α2u x x = ut , u(0, t) = 0, u x (L , t) + γ u(L , t) = 0, t > 0; (i) u(x, 0) = f (x), 0 ≤ x ≤ L. (a) Let u(x, t) = X (x)T (t) and show that X + λX = 0, and
X (0) = 0,
X (L) + γ X (L) = 0,
(ii)
T + λα 2 T = 0,
where λ is the separation constant. (b) Assume that λ is real, and show that problem (ii) has no nontrivial solutions if λ ≤ 0. (c) If λ > 0, let λ = µ2 with µ > 0. Show that problem (ii) has nontrivial solutions only if µ is a solution of the equation µ cos µL + γ sin µL = 0.
(iii)
(d) Rewrite Eq. (iii) as tan µL = −µ/γ . Then, by drawing the graphs of y = tan µL and y = −µL/γ L for µ > 0 on the same set of axes, show that Eq. (iii) is satisfied by infinitely many positive values of µ; denote these by µ1 , µ2 , . . . , µn , . . . , ordered in increasing size. (e) Determine the set of fundamental solutions u n (x, t) corresponding to the values µn found in part (d).
10.7
591
The Wave Equation: Vibrations of an Elastic String
10.7 The Wave Equation: Vibrations of an Elastic String A second partial differential equation occurring frequently in applied mathematics is the wave7 equation. Some form of this equation, or a generalization of it, almost inevitably arises in any mathematical analysis of phenomena involving the propagation of waves in a continuous medium. For example, the studies of acoustic waves, water waves, electromagnetic waves, and seismic waves are all based on this equation. Perhaps the easiest situation to visualize occurs in the investigation of mechanical vibrations. Suppose that an elastic string of length L is tightly stretched between two supports at the same horizontal level, so that the x-axis lies along the string (see Figure 10.7.1). The elastic string may be thought of as a violin string, a guy wire, or possibly an electric power line. Suppose that the string is set in motion (by plucking, for example) so that it vibrates in a vertical plane, and let u(x, t) denote the vertical displacement experienced by the string at the point x at time t. If damping effects, such as air resistance, are neglected, and if the amplitude of the motion is not too large, then u(x, t) satisfies the partial differential equation a 2 u x x = u tt
(1)
in the domain 0 < x < L, t > 0. Equation (1) is known as the wave equation and is derived in Appendix B at the end of the chapter. The constant coefficient a 2 appearing in Eq. (1) is given by a 2 = T /ρ,
(2)
where T is the tension (force) in the string, and ρ is the mass per unit length of the string material. It follows that a has the units of length/time, that is, of velocity. In Problem 14 it is shown that a is the velocity of propagation of waves along the string. To describe the motion of the string completely it is necessary also to specify suitable initial and boundary conditions for the displacement u(x, t). The ends are assumed to remain fixed, and therefore the boundary conditions are u(0, t) = 0,
u(L , t) = 0,
t ≥ 0.
(3)
Since the differential equation (1) is of second order with respect to t, it is plausible to prescribe two initial conditions. These are the initial position of the string, u(x, 0) = f (x),
0 ≤ x ≤ L,
(4)
x x=0
u(x, t)
x=L
FIGURE 10.7.1 A vibrating string. 7
The solution of the wave equation was one of the major mathematical problems of the mid-eighteenth century. The wave equation was first derived and studied by D’Alembert in 1746. It also attracted the attention of Euler (1748), Daniel Bernoulli (1753), and Lagrange (1759). Solutions were obtained in several different forms, and the merits of, and relations among, these solutions were argued, sometimes heatedly, in a series of papers extending over more than 25 years. The major points at issue concerned the nature of a function, and the kinds of functions that can be represented by trigonometric series. These questions were not resolved until the nineteenth century.
592
Chapter 10. Partial Differential Equations and Fourier Series
and its initial velocity, u t (x, 0) = g(x),
0 ≤ x ≤ L,
(5)
where f and g are given functions. In order for Eqs. (3), (4), and (5) to be consistent it is also necessary to require that f (0) = f (L) = 0,
g(0) = g(L) = 0.
(6)
The mathematical problem then is to determine the solution of the wave equation (1) that also satisfies the boundary conditions (3) and the initial conditions (4) and (5). Like the heat conduction problem of Sections 10.5 and 10.6, this problem is an initial value problem in the time variable t, and a boundary value problem in the space variable x. Alternatively, it can be considered as a boundary value problem in the semi-infinite strip 0 < x < L, t > 0 of the xt-plane (see Figure 10.7.2). One condition is imposed at each point on the semi-infinite sides, and two are imposed at each point on the finite base. It is important to realize that Eq. (1) governs a large number of other wave problems besides the transverse vibrations of an elastic string. For example, it is only necessary to interpret the function u and the constant a appropriately to have problems dealing with water waves in an ocean, acoustic or electromagnetic waves in the atmosphere, or elastic waves in a solid body. If more than one space dimension is significant, then Eq. (1) must be slightly generalized. The two-dimensional wave equation is a 2 (u x x + u yy ) = u tt .
(7)
This equation would arise, for example, if we considered the motion of a thin elastic sheet, such as a drumhead. Similarly, in three dimensions the wave equation is a 2 (u x x + u yy + u zz ) = u tt .
(8)
In connection with the latter two equations, the boundary and initial conditions must also be suitably generalized. We now solve some typical boundary value problems involving the one-dimensional wave equation.
t x=L
u(0, t) = 0
a 2u xx = u tt
u(x, 0) = f (x) u t(x, 0) = g(x)
u(L, t) = 0
x
FIGURE 10.7.2 Boundary value problem for the wave equation.
10.7
593
The Wave Equation: Vibrations of an Elastic String
Elastic String with Nonzero Initial Displacement. First suppose that the string is disturbed from its equilibrium position, and then released at time t = 0 with zero velocity to vibrate freely. Then the vertical displacement u(x, t) must satisfy the wave equation (1), a 2 u x x = u tt ,
0 < x < L,
t > 0;
the boundary conditions (3), u(0, t) = 0,
u(L , t) = 0,
t ≥ 0;
and the initial conditions u(x, 0) = f (x),
u t (x, 0) = 0,
0 ≤ x ≤ L,
(9)
where f is a given function describing the configuration of the string at t = 0. The method of separation of variables can be used to obtain the solution of Eqs. (1), (3), and (9). Assuming that u(x, t) = X (x)T (t)
(10)
and substituting for u in Eq. (1), we obtain 1 T X = 2 = −λ, (11) X a T where λ is a separation constant. Thus we find that X (x) and T (t) satisfy the ordinary differential equations X + λX = 0, T + a 2 λT = 0.
(12) (13)
Further, by substituting from Eq. (10) for u(x, t) in the boundary conditions (3) we find that X (x) must satisfy the boundary conditions X (0) = 0,
X (L) = 0.
(14)
Finally, by substituting from Eq. (10) into the second of the initial conditions (9), we also find that T (t) must satisfy the initial condition T (0) = 0.
(15)
Our next task is to determine X (x), T (t), and λ by solving Eq. (12) subject to the boundary conditions (14) and Eq. (13) subject to the initial condition (15). The problem of solving the differential equation (12) subject to the boundary conditions (14) is precisely the same problem that arose in Section 10.5 in connection with the heat conduction equation. Thus we can use the results obtained there and at the end of Section 10.1: The problem (12) and (14) has nontrivial solutions if and only if λ is an eigenvalue, λ = n 2 π 2 /L 2 ,
n = 1, 2, . . . ,
(16)
and X (x) is proportional to the corresponding eigenfunction sin(nπ x/L). Using the values of λ given by Eq. (16) in Eq. (13), we obtain T +
n2π 2a2 T = 0. L2
(17)
594
Chapter 10. Partial Differential Equations and Fourier Series
Therefore T (t) = k1 cos
nπat nπat + k2 sin , L L
(18)
where k1 and k2 are arbitrary constants. The initial condition (15) requires that k2 = 0, so T (t) must be proportional to cos(nπat/L). Thus the functions u n (x, t) = sin
nπ x nπat cos , L L
n = 1, 2, . . . ,
(19)
satisfy the partial differential equation (1), the boundary conditions (3), and the second initial condition (9). These functions are the fundamental solutions for the given problem. To satisfy the remaining (nonhomogeneous) initial condition (9) we will consider a superposition of the fundamental solutions (19) with properly chosen coefficients. Thus we assume that u(x, t) has the form u(x, t) =
∞
cn u n (x, t) =
n=1
∞ n=1
cn sin
nπ x nπat cos , L L
(20)
where the constants cn remain to be chosen. The initial condition u(x, 0) = f (x) requires that u(x, 0) =
∞ n=1
cn sin
nπ x = f (x). L
(21)
Consequently, the coefficients cn must be the coefficients in the Fourier sine series of period 2L for f ; hence 2 L nπ x f (x) sin dx, n = 1, 2, . . . . (22) cn = L 0 L Thus the formal solution of the problem of Eqs. (1), (3), and (9) is given by Eq. (20) with the coefficients calculated from Eq. (22). For a fixed value of n the expression sin(nπ x/L) cos(nπat/L) in Eq. (19) is periodic in time t with the period 2L/na; it therefore represents a vibratory motion of the string having this period, or having the frequency nπa/L. The quantities λa = nπa/L for n = 1, 2, . . . are the natural frequencies of the string, that is, the frequencies at which the string will freely vibrate. The factor sin(nπ x/L) represents the displacement pattern occurring in the string when it is executing vibrations of the given frequency. Each displacement pattern is called a natural mode of vibration and is periodic in the space variable x; the spatial period 2L/n is called the wavelength of the mode of frequency nπa/L. Thus the eigenvalues n 2 π 2 /L 2 of the problem (12), (14) are proportional to the squares of the natural frequencies, and the eigenfunctions sin(nπ x/L) give the natural modes. The first three natural modes are sketched in Figure 10.7.3. The total motion of the string, given by the function u(x, t) of Eq. (20), is thus a combination of the natural modes of vibration, and is also a periodic function of time with period 2L/a.
10.7
595
The Wave Equation: Vibrations of an Elastic String u
u
u
1
1
1 L
L x
x
–1
L x
–1 (a)
–1 (c)
(b)
FIGURE 10.7.3 First three fundamental modes of vibration of an elastic string. (a) Frequency = πa/L, wavelength = 2L; (b) frequency = 2πa/L, wavelength = L; (c) frequency = 3πa/L, wavelength = 2L/3.
Consider a vibrating string of length L = 30 that satisfies the wave equation EXAMPLE
1
4u x x = u tt ,
0 < x < 30,
t >0
(23)
Assume that the ends of the string are fixed, and that the string is set in motion with no initial velocity from the initial position x/10, 0 ≤ x ≤ 10, u(x, 0) = f (x) = (24) (30 − x)/20, 10 < x ≤ 30. Find the displacement u(x, t) of the string and describe its motion through one period. The solution is given by Eq. (20) with a = 2 and L = 30, that is, u(x, t) =
∞ n=1
cn sin
2nπt nπ x cos , 30 30
(25)
where cn is calculated from Eq. (22). Substituting from Eq. (24) into Eq. (22), we obtain 10 30 2 nπ x 2 nπ x x 30 − x sin dx + sin dx. (26) cn = 30 0 10 30 30 10 20 30 By evaluating the integrals in Eq. (26), we find that 9 nπ , n = 1, 2, . . . . (27) sin 2 3 n π The solution (25), (27) gives the displacement of the string at any point x at any time t. The motion is periodic in time with period 30, so it is sufficient to analyze the solution for 0 ≤ t ≤ 30. The best way to visualize the solution is by a computer animation showing the dynamic behavior of the vibrating string. Here we indicate the motion of the string in Figures 10.7.4, 10.7.5, and 10.7.6. Plots of u versus x for t = 0, 4, 7.5, 11, and 15 are shown in Figure 10.7.4. Observe that the maximum initial displacement is positive and occurs at x = 10, while at t = 15, a half period later, the maximum displacement is negative and occurs at x = 20. The string then retraces its motion and returns to its original configuration at t = 30. Figure 10.7.5 shows the behavior of the points x = 10, 15, and 20 by plots of u versus t for these fixed values of x. The plots confirm that the motion is indeed periodic with period 30. Observe also that each interior point cn =
2
596
Chapter 10. Partial Differential Equations and Fourier Series
on the string is motionless for one-third of each period. Figure 10.7.6 shows a threedimensional plot of u versus both x and t, from which the overall nature of the solution is apparent. Of course, the curves in Figures 10.7.4 and 10.7.5 lie on the surface shown in Figure 10.7.6. u 1 0.8 0.6 0.4 0.2 –0.2 –0.4 –0.6 –0.8 –1
t=0 t=4 t = 7.5 2
4
6
8
10 12 14 16 18 20 22 24 26 28 30
x
t = 11 t = 15
FIGURE 10.7.4 Plots of u versus x for fixed values of t for the string in Example 1. u 1 0.8 0.6
x = 10 x = 15 x = 20
0.4 0.2 –0.2
10
20
30
40
50
60
t
–0.4 –0.6 –0.8 –1
FIGURE 10.7.5 Plots of u versus t for fixed values of x for the string in Example 1.
Justification of the Solution. As in the heat conduction problem considered earlier, Eq. (20) with the coefficients cn given by Eq. (22) is only a formal solution of Eqs. (1), (3), and (9). To ascertain whether Eq. (20) actually represents the solution of the given problem requires some further investigation. As in the heat conduction problem, it is tempting to try to show this directly by substituting Eq. (20) for u(x, t) in Eqs. (1), (3), and (9). However, on formally computing u x x , for example, we obtain u x x (x, t) = −
∞ n=1
cn
nπ 2 L
sin
nπ x nπat cos ; L L
10.7
597
The Wave Equation: Vibrations of an Elastic String u 1 20 5
40
–1
60
10
80 t
15 20 25 30 x
FIGURE 10.7.6 Plot of u versus x and t for the string in Example 1.
due to the presence of the n 2 factor in the numerator this series may not converge. This would not necessarily mean that the series (20) for u(x, t) is incorrect, but only that the series (20) cannot be used to calculate u x x and u tt . A basic difference between solutions of the wave equation and those of the heat conduction equation is that the latter contain negative exponential terms that approach zero very rapidly with increasing n, which ensures the convergence of the series solution and its derivatives. In contrast, series solutions of the wave equation contain only oscillatory terms that do not decay with increasing n. However, there is an alternative way to establish the validity of Eq. (20) indirectly. At the same time we will gain additional information about the structure of the solution. First we will show that Eq. (20) is equivalent to u(x, t) = 12 [h(x − at) + h(x + at)],
(28)
where h is the function obtained by extending the initial data f into (−L , 0) as an odd function, and to other values of x as a periodic function of period 2L. That is, f (x), 0 ≤ x ≤ L, h(x) = (29) − f (−x), −L < x < 0; h(x + 2L) = h(x). To establish Eq. (28) note that h has the Fourier series h(x) =
∞ n=1
cn sin
nπ x . L
(30)
Then, using the trigonometric identities for the sine of a sum or difference, we obtain ∞ nπat nπ x nπat nπ x cn sin cos − cos sin , h(x − at) = L L L L n=1 ∞ nπ x nπat nπ x nπat cn sin cos + cos sin , h(x + at) = L L L L n=1
598
Chapter 10. Partial Differential Equations and Fourier Series
and Eq. (28) follows immediately upon adding the last two equations. From Eq. (28) we see that u(x, t) is continuous for 0 < x < L, t > 0 provided that h is continuous on the interval (−∞, ∞). This requires that f be continuous on the original interval [0, L]. Similarly, u is twice continuously differentiable with respect to either variable in 0 < x < L, t > 0, provided that h is twice continuously differentiable on (−∞, ∞). This requires that f and f be continuous on [0, L]. Furthermore, since h is the odd extension of f , we must also have f (0) = f (L) = 0. However, since h is the even extension of f , no further conditions are required on f . Provided that these conditions are met, u x x and u tt can be computed from Eq. (28), and it is an elementary exercise to show that these derivatives satisfy the wave equation. Some of the details of the argument just indicated are given in Problems 20 and 21. If some of the continuity requirements stated in the last paragraph are not met, then u is not differentiable at some points in the semi-infinite strip 0 < x < L, t > 0, and thus is a solution of the wave equation only in a somewhat restricted sense. An important physical consequence of this observation is that if there are any discontinuities present in the initial data f , then they will be preserved in the solution u(x, t) for all time. In contrast, in heat conduction problems initial discontinuities are instantly smoothed out (Section 10.6). Suppose that the initial displacement f has a jump discontinuity at x = x0 , 0 ≤ x0 ≤ L. Since h is a periodic extension of f , the same discontinuity is present in h(ξ ) at ξ = x0 + 2n L and at ξ = −x0 + 2n L, where n is any integer. Thus h(x − at) is discontinuous when x − at = x0 + 2n L, or when x − at = −x0 + 2n L. For a fixed x in [0, L] the discontinuity that was originally at x0 will reappear in h(x − at) at the times t = (x ± x0 − 2n L)/a. Similarly, h(x + at) is discontinuous at the point x at the times t = (−x ± x0 + 2m L)/a, where m is any integer. If we refer to Eq. (28), it then follows that the solution u(x, t) is also discontinuous at the given point x at these times. Since the physical problem is posed for t > 0, only those values of m and n yielding positive values of t are of interest. General Problem for the Elastic String. Let us modify the problem considered previously by supposing that the string is set in motion from its equilibrium position with a given velocity. Then the vertical displacement u(x, t) must satisfy the wave equation (1), a 2 u x x = u tt ,
0 < x < L,
t > 0;
u(L , t) = 0,
t ≥ 0;
the boundary conditions (3), u(0, t) = 0, and the initial conditions u(x, 0) = 0,
u t (x, 0) = g(x),
0 ≤ x ≤ L,
(31)
where g(x) is the initial velocity at the point x of the string. The solution of this new problem can be obtained by following the procedure described above for the problem (1), (3), and (9). Upon separating variables, we find that the problem for X (x) is exactly the same as before. Thus, once again λ = n 2 π 2 /L 2 and X (x) is proportional to sin(nπ x/L). The differential equation for T (t) is again Eq. (17), but the associated initial condition is now T (0) = 0.
(32)
10.7
599
The Wave Equation: Vibrations of an Elastic String
corresponding to the first of the initial conditions (31). The general solution of Eq. (17) is given by Eq. (18), but now the initial condition (32) requires that k1 = 0. Therefore T (t) is now proportional to sin(nπat/L) and the fundamental solutions for the problem (1), (3), and (31) are nπat nπ x sin , n = 1, 2, 3, . . . . (33) u n (x, t) = sin L L Each of the functions u n (x, t) satisfies the wave equation (1), the boundary conditions (3), and the first of the initial conditions (31). The main consequence of using the initial conditions (31) rather than (9) is that the time-dependent factor in u n (x, t) involves a sine rather than a cosine. To satisfy the remaining (nonhomogeneous) initial condition we assume that u(x, t) can be expressed as a linear combination of the fundamental solutions (33), that is, u(x, t) =
∞
kn u n (x, t) =
n=1
∞
kn sin
n=1
nπat nπ x sin . L L
(34)
To determine the values of the coefficients kn we differentiate Eq. (34) with respect to t, set t = 0, and use the second initial condition (31); this gives the equation u t (x, 0) =
∞ nπa n=1
L
kn sin
nπ x = g(x). L
(35)
Hence the quantities (nπa/L)kn are the coefficients in the Fourier sine series of period 2L for g; therefore 2 L nπ x nπa kn = dx, n = 1, 2, . . . . (36) g(x) sin L L 0 L Thus Eq. (34), with the coefficients given by Eq. (36), constitutes a formal solution to the problem of Eqs. (1), (3), and (31). The validity of this formal solution can be established by arguments similar to those previously indicated for the solution of Eqs. (1), (3), and (9). Finally, we turn to the problem consisting of the wave equation (1), the boundary conditions (3), and the general initial conditions (4), (5): u(x, 0) = f (x),
u t (x, 0) = g(x),
0 < x < L,
(37)
where f (x) and g(x) are the given initial position and velocity, respectively, of the string. Although this problem can be solved by separating variables, as in the cases discussed previously, it is important to note that it can also be solved simply by adding together the two solutions that we obtained above. To show that this is true, let v(x, t) be the solution of the problem (1), (3), and (9), and let w(x, t) be the solution of the problem (1), (3), and (31). Thus v(x, t) is given by Eqs. (20) and (22), while w(x, t) is given by Eqs. (34) and (36). Now let u(x, t) = v(x, t) + w(x, t); what problem does u(x, t) satisfy? First, observe that a 2 u x x − u tt = (a 2 vx x − vtt ) + (a 2 wx x − wtt ) = 0 + 0 = 0,
(38)
so u(x, t) satisfies the wave equation (1). Next, we have u(0, t) = v(0, t) + w(0, t) = 0 + 0 = 0, u(L , t) = v(L , t) + w(L , t) = 0 + 0 = 0, (39)
600
Chapter 10. Partial Differential Equations and Fourier Series
so u(x, t) also satisfies the boundary conditions (3). Finally, we have u(x, 0) = v(x, 0) + w(x, 0) = f (x) + 0 = f (x)
(40)
u t (x, 0) = vt (x, 0) + wt (x, 0) = 0 + g(x) = g(x).
(41)
and
Thus u(x, t) satisfies the general initial conditions (37). We can restate the result we have just obtained in the following way. To solve the wave equation with the general initial conditions (37) you can solve instead the somewhat simpler problems with the initial conditions (9) and (31), respectively, and then add together the two solutions. This is another use of the principle of superposition.
PROBLEMS
Consider an elastic string of length L whose ends are held fixed. The string is set in motion with no initial velocity from an initial position u(x, 0) = f (x). In each of Problems 1 through 4 carry out the following steps. Let L = 10 and a = 1 in parts (b) through (d). (a) (b) (c) (d) (e)
䉴 1. 䉴 2. 䉴 3. 䉴 4.
Find the displacement u(x, t) for the given initial position f (x). Plot u(x, t) versus x for 0 ≤ x ≤ 10 and for several values of t between t = 0 and t = 20. Plot u(x, t) versus t for 0 ≤ t ≤ 20 and for several values of x. Construct an animation of the solution in time for at least one period. Describe the motion of the string in a few sentences. 2x/L , 0 ≤ x ≤ L/2, f (x) = 2(L − x)/L , L/2 < x ≤ L 4x/L , 0 ≤ x ≤ L/4, f (x) = 1, L/4 < x < 3L/4, 4(L − x)/L , 3L/4 ≤ x ≤ L f (x) = 8x(L − x)2 /L 3 1, L/2 − 1 < x < L/2 + 1 (L > 2), f (x) = 0, otherwise
Consider an elastic string of length L whose ends are held fixed. The string is set in motion from its equilibrium position with an initial velocity u t (x, 0) = g(x). In each of Problems 5 through 8 carry out the following steps. Let L = 10 and a = 1 in parts (b) through (d). (a) (b) (c) (d) (e)
䉴 5. 䉴 6. 䉴 7. 䉴 8.
Find the displacement u(x, t) for the given g(x). Plot u(x, t) versus x for 0 ≤ x ≤ 10 and for several values of t between t = 0 and t = 20. Plot u(x, t) versus t for 0 ≤ t ≤ 20 and for several values of x. Construct an animation of the solution in time for at least one period. Describe the motion of the string in a few sentences. 2x/L , 0 ≤ x ≤ L/2, g(x) = 2(L − x)/L , L/2 < x ≤ L 4x/L , 0 ≤ x ≤ L/4, g(x) = 1, L/4 < x < 3L/4, 4(L − x)/L , 3L/4 ≤ x ≤ L g(x) = 8x(L − x)2 /L 3 1, L/2 − 1 < x < L/2 + 1 (L > 2), g(x) = 0, otherwise
10.7
601
The Wave Equation: Vibrations of an Elastic String
9. If an elastic string is free at one end, the boundary condition to be satisfied there is that u x = 0. Find the displacement u(x, t) in an elastic string of length L, fixed at x = 0 and free at x = L, set in motion with no initial velocity from the initial position u(x, 0) = f (x), where f is a given function. Hint: Show that the fundamental solutions for this problem, satisfying all conditions except the nonhomogeneous initial condition, are u n (x, t) = sin λn x cos λn at, where λn = (2n − 1)π/2L , n = 1, 2, . . . . Compare this problem with Problem 15 of Section 10.6; pay particular attention to the extension of the initial data out of the original interval [0, L]. 䉴 10. Consider an elastic string of length L. The end x = 0 is held fixed while the end x = L is free; thus the boundary conditions are u(0, t) = 0 and u x (L , t) = 0. The string is set in motion with no initial velocity from the initial position u(x, 0) = f (x), where 1, L/2 − 1 < x < L/2 + 1 (L > 2), f (x) = 0, otherwise. (a) Find the displacement u(x, t). (b) With L = 10 and a = 1 plot u versus x for 0 ≤ x ≤ 10 and for several values of t. Pay particular attention to values of t between 3 and 7. Observe how the initial disturbance is reflected at each end of the string. (c) With L = 10 and a = 1 plot u versus t for several values of x. (d) Construct an animation of the solution in time for at least one period. (e) Describe the motion of the string in a few sentences. 䉴 11. Suppose that the string in Problem 10 is started instead from the initial position f (x) = 8x(L − x)2 /L 3 . Follow the instructions in Problem 10 for this new problem. 12. Dimensionless variables can be introduced into the wave equation a 2 u x x = u tt in the following manner. Let s = x/L and show that the wave equation becomes a 2 u ss = L 2 u tt . Then show that L/a has the dimensions of time, and thus can be used as the unit on the time scale. Finally, let τ = at/L and show that the wave equation then reduces to u ss = u τ τ . Problems 13 and 14 indicate the form of the general solution of the wave equation and the physical significance of the constant a. 13. Show that the wave equation a 2 u x x = u tt can be reduced to the form u ξ η = 0 by change of variables ξ = x − at, η = x + at. Show that u(x, t) can be written as u(x, t) = φ(x − at) + ψ(x + at), where φ and ψ are arbitrary functions. 14. Plot the value of φ(x − at) for t = 0, 1/a, 2/a, and t0 /a if φ(s) = sin s. Note that for any t = 0 the graph of y = φ(x − at) is the same as that of y = φ(x) when t = 0, but displaced a distance at in the positive x direction. Thus a represents the velocity at which a disturbance moves along the string. What is the interpretation of φ(x + at)? 15. A steel wire 5 ft in length is stretched by a tensile force of 50 lb. The wire has a weight per unit length of 0.026 lb/ft. (a) Find the velocity of propagation of transverse waves in the wire.
602
Chapter 10. Partial Differential Equations and Fourier Series
(b) Find the natural frequencies of vibration. (c) If the tension in the wire is increased, how are the natural frequencies changed? Are the natural modes also changed? 16. A vibrating string moving in an elastic medium satisfies the equation a 2 u x x − α 2 u = u tt , where α 2 is proportional to the coefficient of elasticity of the medium. Suppose that the string is fixed at the ends, and is released with no initial velocity from the initial position u(x, 0) = f (x), 0 < x < L. Find the displacement u(x, t). 17. Consider the wave equation a 2 u x x = u tt in an infinite one-dimensional medium subject to the initial conditions u(x, 0) = f (x),
u t (x, 0) = 0,
−∞ < x < ∞.
(a) Using the form of the solution obtained in Problem 13, show that φ and ψ must satisfy φ(x) + ψ(x) = f (x), −φ (x) + ψ (x) = 0. (b) Solve the equations of part (a) for φ and ψ, and thereby show that u(x, t) = 12 [ f (x − at) + f (x + at)]. This form of the solution was obtained by D’Alembert in 1746. Hint: Note that the equation ψ (x) = φ (x) is solved by choosing ψ(x) = φ(x) + c. (c) Let 2, −1 < x < 1, f (x) = 0, otherwise. Show that 2, −1 + at < x < 1 + at, f (x − at) = 0, otherwise. Also determine f (x + at). (d) Sketch the solution found in part (b) at t = 0, t = 1/2a, t = 1/a, and t = 2/a, obtaining the results shown in Figure 10.7.7. Observe that an initial displacement produces two waves moving in opposite directions away from the original location; each wave consists of one-half of the initial displacement. 18. Consider the wave equation a 2 u x x = u tt in an infinite one-dimensional medium subject to the initial conditions u(x, 0) = 0,
u t (x, 0) = g(x),
−∞ < x < ∞.
(a) Using the form of the solution obtained in Problem 13, show that φ(x) + ψ(x) = 0, −aφ (x) + aψ (x) = g(x). (b) Use the first equation of part (a) to show that ψ (x) = −φ (x). Then use the second equation to show that −2aφ (x) = g(x), and therefore that x 1 φ(x) = − g(ξ ) dξ + φ(x0 ), 2a x0 where x0 is arbitrary. Finally, determine ψ(x).
10.7
603
The Wave Equation: Vibrations of an Elastic String u 2 t=0 1 –1
x
1
u 2 t=
1 2a
1 – 32
– 12
–1
1 2
x
3 2
1
u t=
1 –2
–1
1 a
2
1
x
u t=
2 a
1 –3
–2
1
–1
3
2
x
FIGURE 10.7.7 Propagation of initial disturbance in an infinite one-dimensional medium.
(c) Show that u(x, t) =
1 2a
x+at
g(ξ ) dξ.
x−at
19. By combining the results of Problems 17 and 18 show that the solution of the problem u(x, 0) = f (x),
a 2 u x x = u tt , u t (x, 0) = g(x),
is given by u(x, t) =
1 1 [ f (x − at) + f (x + at)] + 2 2a
−∞ < x < ∞
x+at
g(ξ ) dξ.
x−at
Problems 20 and 21 indicate how the formal solution (20), (22) of Eqs. (1), (3), and (9) can be shown to constitute the actual solution of that problem. 20. By using the trigonometric identity sin A cos B = 12 [sin(A + B) + sin(A − B)] show that the solution (20) of the problem of Eqs. (1), (3), and (9) can be written in the form (28). 21. Let h(ξ ) represent the initial displacement in [0, L], extended into (−L , 0) as an odd function and extended elsewhere as a periodic function of period 2L. Assuming that h, h , and h are all continuous, show by direct differentiation that u(x, t) as given in
604
Chapter 10. Partial Differential Equations and Fourier Series
Eq. (28) satisfies the wave equation (1) and also the initial conditions (9). Note also that since Eq. (20) clearly satisfies the boundary conditions (3), the same is true of Eq. (28). Comparing Eq. (28) with the solution of the corresponding problem for the infinite string (Problem 17), we see that they have the same form provided that the initial data for the finite string, defined originally only on the interval 0 ≤ x ≤ L, are extended in the given manner over the entire x-axis. If this is done, the solution for the infinite string is also applicable to the finite one. 22. The motion of a circular elastic membrane, such as a drumhead, is governed by the twodimensional wave equation in polar coordinates u rr + (1/r )u r + (1/r 2 )u θθ = a −2 u tt . Assuming that u(r, θ, t) = R(r )(θ )T (t), find ordinary differential equations satisfied by R(r ), (θ ), and T (t). 23. The total energy E(t) of the vibrating string is given as a function of time by L 1 E(t) = ρu 2t (x, t) + 12 T u 2x (x, t) d x; (i) 2 0
the first term is the kinetic energy due to the motion of the string, and the second term is the potential energy created by the displacement of the string away from its equilibrium position. For the displacement u(x, t) given by Eq. (20), that is, for the solution of the string problem with zero initial velocity, show that E(t) =
∞ π 2T n 2 cn2 . 4L n=1
(ii)
Note that the right side of Eq. (ii) does not depend on t. Thus the total energy E is a constant, and therefore is conserved during the motion of the string. Hint: Use Parseval’s equation (Problem 37 of Section 10.4 and Problem 17 of Section 10.3), and recall that a 2 = T /ρ.
10.8 Laplace’s Equation One of the most important of all partial differential equations occurring in applied mathematics is that associated with the name of Laplace8: in two dimensions u x x + u yy = 0,
(1)
u x x + u yy + u zz = 0.
(2)
and in three dimensions
For example, in a two-dimensional heat conduction problem, the temperature u(x, y, t) must satisfy the differential equation α 2 (u x x + u yy ) = u t , 8
(3)
Laplace’s equation is named for Pierre-Simon de Laplace, who, beginning in 1782, studied its solutions extensively while investigating the gravitational attraction of arbitrary bodies in space. However, the equation first appeared in 1752 in a paper by Euler on hydrodynamics.
10.8
Laplace’s Equation
605
where α 2 is the thermal diffusivity. If a steady-state exists, u is a function of x and y only, and the time derivative vanishes; in this case Eq. (3) reduces to Eq. (1). Similarly, for the steady-state heat conduction problem in three dimensions, the temperature must satisfy the three-dimensional form of Laplace’s equation. Equations (1) and (2) also occur in other branches of mathematical physics. In the consideration of electrostatic fields the electric potential function in a dielectric medium containing no electric charges must satisfy either Eq. (1) or Eq. (2), depending on the number of space dimensions involved. Similarly, the potential function of a particle in free space acted on only by gravitational forces satisfies the same equations. Consequently, Laplace’s equation is often referred to as the potential equation. Another example arises in the study of the steady (time-independent), two-dimensional, inviscid, irrotational motion of an incompressible fluid, which centers about two functions, known as the velocity potential function and the stream function, both of which satisfy Eq. (1). In elasticity the displacements that occur when a perfectly elastic bar is twisted are described in terms of the so-called warping function, which also satisfies Eq. (1). Since there is no time dependence in any of the problems mentioned previously, there are no initial conditions to be satisfied by the solutions of Eq. (1) or (2). They must, however, satisfy certain boundary conditions on the bounding curve or surface of the region in which the differential equation is to be solved. Since Laplace’s equation is of second order, it might be plausible to expect that two boundary conditions would be required to determine the solution completely. This, however, is not the case. Recall that in the heat conduction problem for the finite bar (Sections 10.5 and 10.6) it was necessary to prescribe one condition at each end of the bar, that is, one condition at each point of the boundary. If we generalize this observation to multidimensional problems, it is then natural to prescribe one condition on the function u at each point on the boundary of the region in which a solution of Eq. (1) or (2) is sought. The most common boundary condition occurs when the value of u is specified at each boundary point; in terms of the heat conduction problem this corresponds to prescribing the temperature on the boundary. In some problems the value of the derivative, or rate of change, of u in the direction normal to the boundary is specified instead; the condition on the boundary of a thermally insulated body, for example, is of this type. It is entirely possible for more complicated boundary conditions to occur; for example, u might be prescribed on part of the boundary, and its normal derivative specified on the remainder. The problem of finding a solution of Laplace’s equation that takes on given boundary values is known as a Dirichlet problem, in honor of P. G. L. Dirichlet.9 In contrast, if the values of the normal derivative are prescribed on the boundary, the problem is said to be a Neumann problem, in honor of K. G. Neumann.10 The Dirichlet and Neumann problems are also known as the first and second boundary value problems of potential theory, respectively. Physically, it is plausible to expect that the types of boundary conditions just mentioned will be sufficient to determine the solution completely. Indeed, it is possible to establish the existence and uniqueness of the solution of Laplace’s equation under the 9 Peter Gustav Dirichlet (1805 –1859) was a professor at Berlin and, after the death of Gauss, at G¨ottingen. In 1829 he gave the first set of conditions sufficient to guarantee the convergence of a Fourier series. The definition of function usually used today in elementary calculus is essentially the one given by Dirichlet in 1837. While he is best known for his work in analysis and differential equations, Dirichlet was also one of the leading number theorists of the nineteenth century. 10 Karl Gottfried Neumann (1832–1925), professor at Leipzig, made contributions to differential equations, integral equations, and complex variables.
606
Chapter 10. Partial Differential Equations and Fourier Series
boundary conditions mentioned, provided the shape of the boundary and the functions appearing in the boundary conditions satisfy certain very mild requirements. However, the proofs of these theorems, and even their accurate statement, are beyond the scope of the present book. Our only concern will be solving some typical problems by means of separation of variables and Fourier series. While the problems chosen as examples are capable of interesting physical interpretations (in terms of electrostatic potentials or steady-state temperature distributions, for instance), our purpose here is primarily to point out some of the features that may occur during their mathematical solution. It is also worth noting again that more complicated problems can sometimes be solved by expressing the solution as the sum of solutions of several simpler problems (see Problems 3 and 4). Dirichlet Problem for a Rectangle. Consider the mathematical problem of finding the function u satisfying Laplace’s equation (1), u x x + u yy = 0, in the rectangle 0 < x < a, 0 < y < b, and also satisfying the boundary conditions u(x, 0) = 0,
u(x, b) = 0,
u(0, y) = 0,
u(a, y) = f (y),
0 < x < a, 0 ≤ y ≤ b,
(4)
where f is a given function on 0 ≤ y ≤ b (see Figure 10.8.1). To solve this problem we wish to construct a fundamental set of solutions satisfying the partial differential equation and the homogeneous boundary conditions; then we will superpose these solutions so as to satisfy the remaining boundary condition. Let us assume that u(x, y) = X (x)Y (y)
(5)
and substitute for u in Eq. (1). This yields Y X =− = λ, X Y where λ is the separation constant. Thus we obtain the two ordinary differential equations X − λX = 0, Y + λY = 0.
(6) (7)
y b
u(0, y) = 0
u(x, b) = 0
(a, b)
u(a, y) = f (y)
uxx + uyy = 0
u(x, 0) = 0
a
x
FIGURE 10.8.1 Dirichlet problem for a rectangle.
10.8
607
Laplace’s Equation
If we now substitute for u from Eq. (5) in each of the homogeneous boundary conditions, we find that X (0) = 0
(8)
and Y (0) = 0,
Y (b) = 0.
(9)
We will first determine the solution of the differential equation (7) subject to the boundary conditions (9). However, this problem is essentially identical to one encountered previously in Sections 10.1, 10.5, and 10.7. We conclude that there are nontrivial solutions if and only if λ is an eigenvalue, namely, λ = (nπ/b)2 ,
n = 1, 2, . . . ;
(10)
and Y (y) is proportional to the corresponding eigenfunction sin(nπ y/b). Next, we substitute from Eq. (10) for λ in Eq. (6), and solve this equation subject to the boundary condition (8). It is convenient to write the general solution of Eq. (6) as X (x) = k1 cosh(nπ x/b) + k2 sinh(nπ x/b),
(11)
and the boundary condition (8) then requires that k1 = 0. Therefore X (x) must be proportional to sinh(nπ x/b). Thus we obtain the fundamental solutions nπ y nπ x sin , n = 1, 2, . . . . (12) u n (x, y) = sinh b b These functions satisfy the differential equation (1) and all the homogeneous boundary conditions for each value of n. To satisfy the remaining nonhomogeneous boundary condition at x = a we assume, as usual, that we can represent the solution u(x, y) in the form u(x, y) =
∞
cn u n (x, y) =
n=1
∞ n=1
cn sinh
nπ x nπ y sin . b b
(13)
The coefficients cn are determined by the boundary condition u(a, y) =
∞ n=1
cn sinh
nπ y nπa sin = f (y). b b
(14)
Therefore the quantities cn sinh(nπa/b) must be the coefficients in the Fourier sine series of period 2b for f and are given by 2 b nπa nπ y cn sinh = dy. (15) f (y) sin b b 0 b Thus the solution of the partial differential equation (1) satisfying the boundary conditions (4) is given by Eq. (13) with the coefficients cn computed from Eq. (15). From Eqs. (13) and (15) we see that the solution contains the factor sinh(nπ x/b)/ sinh(nπa/b). To estimate this quantity for large n we can use the approximation sinh ξ ∼ = eξ /2, and thereby obtain sinh(nπ x/b) ∼ = sinh(nπa/b)
1 2 1 2
exp(nπ x/b) exp(nπa/b)
= exp[−nπ(a − x)/b].
Thus this factor has the character of a negative exponential; consequently, the series (13) converges quite rapidly unless a − x is very small.
608
Chapter 10. Partial Differential Equations and Fourier Series
EXAMPLE
1
To illustrate these results, let a = 3, b = 2, and y, 0 ≤ y ≤ 1, f (y) = 2 − y, 1 ≤ y ≤ 2.
(16)
By evaluating cn from Eq. (15) we find that cn =
8 sin(nπ/2) . n π 2 sinh(3nπ/2)
(17)
2
Then u(x, y) is given by Eq. (13). Keeping 20 terms in the series we can plot u versus x and y, as shown in Figure 10.8.2. Alternatively, one can construct a contour plot showing level curves of u(x, y); Figure 10.8.3 is such a plot, with an increment of 0.1 between adjacent curves.
u
1.0 0.8 0.6 x
y 2
0.4
3 2
0.2
1
1
FIGURE 10.8.2 Plot of u versus x and y for Example 1.
y 2
u = 0.1 u = 0.3 u = 0.5 u = 0.7
u=0
u=0
u = 0.9 1 u = 0.8 u = 0.6 u = 0.4 u = 0.2
u=0 1
2
3
FIGURE 10.8.3 Level curves of u(x, y) for Example 1.
x
10.8
609
Laplace’s Equation
Dirichlet Problem for a Circle. Consider the problem of solving Laplace’s equation in a circular region r < a subject to the boundary condition u(a, θ) = f (θ),
(18)
where f is a given function on 0 ≤ θ < 2π (see Figure 10.8.4). In polar coordinates Laplace’s equation takes the form 1 1 (19) u rr + u r + 2 u θθ = 0. r r To complete the statement of the problem we note that for u(r, θ) to be single-valued, it is necessary that u be periodic in θ with period 2π. Moreover, we state explicitly that u(r, θ) must be bounded for r ≤ a, since this will become important later. To apply the method of separation of variables to this problem we assume that u(r, θ) = R(r )(θ),
(20)
and substitute for u in the differential equation (19). This yields R +
1 1 R + 2 R = 0, r r
or R R +r =− = λ, (21) R R where λ is the separation constant. Thus we obtain the two ordinary differential equations r2
r 2 R + r R − λR = 0, + λ = 0.
(22) (23)
In this problem there are no homogeneous boundary conditions; recall, however, that solutions must be bounded and also periodic in θ with period 2π. It is possible to show (Problem 9) that the periodicity condition requires that λ must be real. We will consider in turn the cases in which λ is negative, zero, and positive. y
u(a, θ ) = f (θ ) a θ
x urr + 1r ur +
1 u r 2 θθ
=0
FIGURE 10.8.4 Dirichlet problem for a circle.
610
Chapter 10. Partial Differential Equations and Fourier Series
If λ < 0, let λ = −µ2 , where µ > 0. Then Eq. (23) becomes − µ2 = 0, and consequently (θ) = c1 eµθ + c2 e−µθ .
(24)
Thus (θ) can be periodic only if c1 = c2 = 0, and we conclude that λ cannot be negative. If λ = 0, then Eq. (23) becomes = 0, and thus (θ) = c1 + c2 θ.
(25)
For (θ) to be periodic we must have c2 = 0, so that (θ) is a constant. Further, for λ = 0, Eq. (22) becomes r 2 R + r R = 0.
(26)
This equation is of the Euler type, and has the solution R(r ) = k1 + k2 ln r.
(27)
The logarithmic term cannot be accepted if u(r, θ) is to remain bounded as r → 0; hence k2 = 0. Thus, corresponding to λ = 0, we conclude that u(r, θ) must be a constant, that is, proportional to the solution u 0 (r, θ) = 1.
(28)
Finally, if λ > 0, we let λ = µ2 where µ > 0. Then Eqs. (22) and (23) become r 2 R + r R − µ2 R = 0
(29)
+ µ2 = 0,
(30)
and
respectively. Equation (29) is an Euler equation and has the solution R(r ) = k1r µ + k2r −µ ,
(31)
(θ) = c1 sin µθ + c2 cos µθ.
(32)
while Eq. (30) has the solution
In order that be periodic with period 2π it is necessary that µ be a positive integer n. With µ = n it follows that the solution r −µ in Eq. (31) must be discarded since it becomes unbounded as r → 0. Consequently, k2 = 0 and the appropriate solutions of Eq. (19) are u n (r, θ) = r n cos nθ,
vn (r, θ) = r n sin nθ,
n = 1, 2, . . . .
(33)
These functions, together with u 0 (r, θ) = 1, form a set of fundamental solutions for the present problem. In the usual way we now assume that u can be expressed as a linear combination of the fundamental solutions; that is, u(r, θ) =
∞ c0 r n (cn cos nθ + kn sin nθ). + 2 n=1
(34)
10.8
611
Laplace’s Equation
The boundary condition (18) then requires that ∞ c u(a, θ) = 0 + a n (cn cos nθ + kn sin nθ) = f (θ) 2 n=1
(35)
for 0 ≤ θ < 2π. The function f may be extended outside this interval so that it is periodic with period 2π, and therefore has a Fourier series of the form (35). Since the extended function has period 2π, we may compute its Fourier coefficients by integrating over any period of the function. In particular, it is convenient to use the original interval (0, 2π); then 1 2π n a cn = f (θ) cos nθ dθ, n = 0, 1, 2, . . . ; (36) π 0 1 2π f (θ) sin nθ dθ, n = 1, 2, . . . . (37) a n kn = π 0 With this choice of the coefficients, Eq. (34) represents the solution of the boundary value problem of Eqs. (18) and (19). Note that in this problem we needed both sine and cosine terms in the solution. This is because the boundary data were given on 0 ≤ θ < 2π and have period 2π. As a consequence, the full Fourier series is required, rather than sine or cosine terms alone.
PROBLEMS 䉴 1. (a) Find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u(0, y) = 0, u(x, 0) = 0, (b) Find the solution if
u(a, y) = 0, u(x, b) = g(x),
g(x) =
x, a − x,
0 < y < b, 0 ≤ x ≤ a.
0 ≤ x ≤ a/2, a/2 ≤ x ≤ a.
(c) For a = 3 and b = 1 plot u versus x for several values of y and also plot u versus y for several values of x. (d) Plot u versus both x and y in three dimensions. Also draw a contour plot showing several level curves of u(x, y) in the x y-plane. 2. Find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u(0, y) = 0, u(x, 0) = h(x),
u(a, y) = 0, u(x, b) = 0,
0 < y < b, 0 ≤ x ≤ a.
䉴 3. (a) Find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u(0, y) = 0, u(x, 0) = h(x),
u(a, y) = f (y), u(x, b) = 0,
0 < y < b, 0 ≤ x ≤ a.
Hint: Consider the possibility of adding the solutions of two problems, one with homogeneous boundary conditions except for u(a, y) = f (y), and the other with homogeneous boundary conditions except for u(x, 0) = h(x). (b) Find the solution if h(x) = (x/a)2 and f (y) = 1 − (y/b). (c) Let a = 2 and b = 2. Plot the solution in several ways: u versus x, u versus y, u versus both x and y, and a contour plot.
612
Chapter 10. Partial Differential Equations and Fourier Series
4. Show how to find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u(0, y) = k(y), u(x, 0) = h(x),
u(a, y) = f (y), u(x, b) = g(x),
0 < y < b, 0 ≤ x ≤ a.
Hint: See Problem 3. 5. Find the solution u(r, θ ) of Laplace’s equation u rr + (1/r )u r + (1/r 2 )u θθ = 0 outside the circle r = a, also satisfying the boundary condition u(a, θ ) = f (θ ),
䉴
0 ≤ θ < 2π,
on the circle. Assume that u(r, θ ) is single-valued and bounded for r > a. 6. (a) Find the solution u(r, θ ) of Laplace’s equation in the semicircular region r < a, 0 < θ < π , also satisfying the boundary conditions u(r, 0) = 0, u(r, π ) = 0, 0 ≤ r < a, u(a, θ ) = f (θ ), 0 ≤ θ ≤ π. Assume that u is single-valued and bounded in the given region. (b) Find the solution if f (θ ) = θ (π − θ ). (c) Let a = 2 and plot the solution in several ways: u versus r , u versus θ , u versus both r and θ , and a contour plot. 7. Find the solution u(r, θ ) of Laplace’s equation in the circular sector 0 < r < a, 0 < θ < α, also satisfying the boundary conditions u(r, 0) = 0, u(r, α) = 0, 0 ≤ r < a, u(a, θ ) = f (θ ), 0 ≤ θ ≤ α.
䉴
Assume that u is single-valued and bounded in the sector. 8. (a) Find the solution u(x, y) of Laplace’s equation in the semi-infinite strip 0 < x < a, y > 0, also satisfying the boundary conditions u(0, y) = 0, u(a, y) = 0, y > 0, u(x, 0) = f (x), 0≤x ≤a and the additional condition that u(x, y) → 0 as y → ∞. (b) Find the solution if f (x) = x(a − x). (c) Let a = 5. Find the smallest value of y0 for which u(x, y) ≤ 0.1 for all y ≥ y0 . 9. Show that Eq. (23) has periodic solutions only if λ is real. Hint: Let λ = −µ2 where µ = ν + iσ with ν and σ real. 10. Consider the problem of finding a solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u x (0, y) = 0, u y (x, 0) = 0,
u x (a, y) = f (y), u y (x, b) = 0,
0 < y < b, 0 ≤ x ≤ a.
This is an example of a Neumann problem. (a) Show that Laplace’s equation and the homogeneous boundary conditions determine the fundamental set of solutions u 0 (x, y) = c0 , u n (x, y) = cn cosh(nπ x/b) cos(nπ y/b),
n = 1, 2, 3, . . . .
(b) By superposing the fundamental solutions of part (a), formally determine a function u also satisfying the nonhomogeneous boundary condition u x (a, y) = f (y). Note that when u x (a, y) is calculated, the constant term in u(x, y) is eliminated, and there is no condition
10.8
613
Laplace’s Equation
from which to determine c0 . Furthermore, it must be possible to express f by means of a Fourier cosine series of period 2b, which does not have a constant term. This means that b f (y) dy = 0 0
is a necessary condition for the given problem to be solvable. Finally, note that c0 remains arbitrary, and hence the solution is determined only up to this additive constant. This is a property of all Neumann problems. 11. Find a solution u(r, θ ) of Laplace’s equation inside the circle r = a, also satisfying the boundary condition on the circle u r (a, θ ) = g(θ ),
0 ≤ θ < 2π.
Note that this is a Neumann problem, and that its solution is determined only up to an arbitrary additive constant. State a necessary condition on g(θ ) for this problem to be solvable by the method of separation of variables (see Problem 10). 䉴 12. (a) Find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u(0, y) = 0, u y (x, 0) = 0,
u(a, y) = 0, u(x, b) = g(x),
0 < y < b, 0 ≤ x ≤ a.
Note that this is neither a Dirichlet nor a Neumann problem, but a mixed problem in which u is prescribed on part of the boundary and its normal derivative on the rest. (b) Find the solution if x, 0 ≤ x ≤ a/2, g(x) = a − x, a/2 ≤ x ≤ a. (c) Let a = 3 and b = 1. By drawing suitable plots compare this solution with the solution of Problem 1. 䉴 13. (a) Find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u(0, y) = 0, u(x, 0) = 0,
u(a, y) = f (y), u y (x, b) = 0,
0 < y < b, 0 ≤ x ≤ a.
Hint: Eventually it will be necessary to expand f (y) in a series making use of the functions sin(π y/2b), sin(3π y/2b), sin(5π y/2b), . . . (see Problem 39 of Section 10.4). (b) Find the solution if f (y) = y(2b − y). (c) Let a = 3 and b = 2; plot the solution in several ways. 䉴 14. (a) Find the solution u(x, y) of Laplace’s equation in the rectangle 0 < x < a, 0 < y < b, also satisfying the boundary conditions u x (0, y) = 0, u(x, 0) = 0,
u x (a, y) = 0, u(x, b) = g(x),
0 < y < b, 0 ≤ x ≤ a.
(b) Find the solution if g(x) = 1 + x 2 (x − a)2 . (c) Let a = 3 and b = 2; plot the solution in several ways. 15. By writing Laplace’s equation in cylindrical coordinates r , θ , and z and then assuming that the solution is axially symmetric (no dependence on θ ), we obtain the equation u rr + (1/r )u r + u zz = 0. Assuming that u(r, z) = R(r )Z (z), show that R and Z satisfy the equations r R + R + λ2 r R = 0,
Z − λ2 Z = 0.
The equation for R is Bessel’s equation of order zero with independent variable λr .
614
Chapter 10. Partial Differential Equations and Fourier Series
APPENDIX
A
Derivation of the Heat Conduction Equation. In this section we derive the differential equation that, to a first approximation at least, governs the conduction of heat in solids. It is important to understand that the mathematical analysis of a physical situation or process such as this ultimately rests on a foundation of empirical knowledge of the phenomenon involved. The mathematician must have a place to start, so to speak, and this place is furnished by experience. Consider a uniform rod insulated on the lateral surfaces so that heat can flow only in the axial direction. It has been demonstrated many times that if two parallel cross sections of the same area A and different temperatures T1 and T2 , respectively, are separated by a small distance d, an amount of heat per unit time will pass from the warmer section to the cooler one. Moreover, this amount of heat is proportional to the area A, the temperature difference | T2 − T1 |, and inversely proportional to the separation distance d. Thus Amount of heat per unit time = κ A| T2 − T1 |/d,
(1)
where the positive proportionality factor κ is called the thermal conductivity and depends primarily on the material11 of the rod. The relation (1) is often called Fourier’s law of heat conduction. We repeat that Eq. (1) is an empirical, not a theoretical, result and that it can be, and has often been, verified by careful experiment. It is the basis of the mathematical theory of heat conduction. Now consider a straight rod of uniform cross section and homogeneous material, oriented so that the x-axis lies along the axis of the rod (see Figure 10.A.1). Let x = 0 and x = L designate the ends of the bar.
x H = –κ Aux
H = κ Aux x = x0
x = x 0 + ∆x
FIGURE 10.A.1 Conduction of heat in an element of a rod.
We will assume that the sides of the bar are perfectly insulated so that there is no passage of heat through them. We will also assume that the temperature u depends only on the axial position x and the time t, and not on the lateral coordinates y and z. In other words, we assume that the temperature remains constant on any cross section of the bar. This assumption is usually satisfactory when the lateral dimensions of the rod are small compared to its length. The differential equation governing the temperature in the bar is an expression of a fundamental physical balance; the rate at which heat flows into any portion of the bar is equal to the rate at which heat is absorbed in that portion of the bar. The terms in the equation are called the flux (flow) term and the absorption term, respectively. We will first calculate the flux term. Consider an element of the bar lying between the cross sections x = x0 and x = x0 + x, where x0 is arbitrary and x is small. The 11
Actually, κ also depends on the temperature, but if the temperature range is not too great, it is satisfactory to assume that κ is independent of temperature.
615
Appendix A
instantaneous rate of heat transfer H (x0 , t) from left to right across the cross section x = x0 is given by u(x0 + d/2, t) − u(x0 − d/2, t) d = −κ Au x (x0 , t).
H (x0 ) = − lim κ A d→0
(2)
The minus sign appears in this equation since there will be a positive flow of heat from left to right only if the temperature is greater to the left of x = x0 than to the right; in this case u x (x0 , t) is negative. In a similar manner, the rate at which heat passes from left to right through the cross section x = x0 + x is given by H (x0 + x, t) = −κ Au x (x0 + x, t).
(3)
The net rate at which heat flows into the segment of the bar between x = x0 and x = x0 + x is thus given by Q = H (x0 , t) − H (x0 + x, t) = κ A[u x (x0 + x, t) − u x (x0 , t)],
(4)
and the amount of heat entering this bar element in time t is Q t = κ A[u x (x0 + x, t) − u x (x0 , t)] t.
(5)
Let us now calculate the absorption term. The average change in temperature u, in the time interval t, is proportional to the amount of heat Q t introduced and inversely proportional to the mass m of the element. Thus u =
Q t 1 Q t = , s m sρ A x
(6)
where the constant of proportionality s is known as the specific heat of the material of the bar, and ρ is its density.12 The average temperature change u in the bar element under consideration is the actual temperature change at some intermediate point x = x0 + θ x, where 0 < θ < 1. Thus Eq. (6) can be written as u(x0 + θ x, t + t) − u(x0 + θ x, t) =
Q t , sρ A x
(7)
or as Q t = [u(x0 + θ x, t + t) − u(x0 + θ x, t)]sρ A x.
(8)
To balance the flux and absorption terms, we equate the two expressions for Q t: κ A[u x (x0 + x, t) − u x (x0 , t)] t = sρ A[u(x0 + θ x, t + t) − u(x0 + θ x, t)] x.
(9)
On dividing Eq. (9) by x t and then letting x → 0 and t → 0, we obtain the heat conduction or diffusion equation α2u x x = u t .
(10)
α 2 = κ/ρs
(11)
The quantity α 2 defined by
12
The dependence of the density and specific heat on temperature is relatively small and will be neglected. Thus both ρ and s will be considered as constants.
616
Chapter 10. Partial Differential Equations and Fourier Series
is called the thermal diffusivity, and is a parameter depending only on the material of the bar. The units of α 2 are (length)2 /time. Typical values of α 2 are given in Table 10.5.1. Several relatively simple conditions may be imposed at the ends of the bar. For example, the temperature at an end may be maintained at some constant value T . This might be accomplished by placing the end of the bar in thermal contact with some reservoir of sufficient size so that any heat that may flow between the bar and reservoir does not appreciably alter the temperature of the reservoir. At an end where this is done the boundary condition is u = T.
(12)
Another simple boundary condition occurs if the end is insulated so that no heat passes through it. Recalling the expression (2) for the amount of heat crossing any cross section of the bar, we conclude that the condition of insulation is that this quantity vanish. Thus ux = 0
(13)
is the boundary condition at an insulated end. A more general type of boundary condition occurs if the rate of flow of heat through an end of the bar is proportional to the temperature there. Let us consider the end x = 0, where the rate of flow of heat from left to right is given by −κ Au x (0, t); see Eq. (2). Hence the rate of heat flow out of the bar (from right to left) at x = 0 is κ Au x (0, t). If this quantity is proportional to the temperature u(0, t), then we obtain the boundary condition u x (0, t) − h 1 u(0, t) = 0,
t > 0,
(14)
where h 1 is a nonnegative constant of proportionality. Note that h 1 = 0 corresponds to an insulated end, while h 1 → ∞ corresponds to an end held at zero temperature. If heat flow is taking place at the right end of the bar (x = L), then in a similar way we obtain the boundary condition u x (L , t) + h 2 u(L , t) = 0,
t > 0,
(15)
where again h 2 is a nonnegative constant of proportionality. Finally, to determine completely the flow of heat in the bar it is necessary to state the temperature distribution at one fixed instant, usually taken as the initial time t = 0. This initial condition is of the form u(x, 0) = f (x),
0 ≤ x ≤ L.
(16)
The problem then is to determine the solution of the differential equation (10) subject to one of the boundary conditions (12) to (15) at each end, and to the initial condition (16) at t = 0. Several generalizations of the heat equation (10) also occur in practice. First, the bar material may be nonuniform and the cross section may not be constant along the length of the bar. In this case, the parameters κ, ρ, s, and A may depend on the axial variable x. Going back to Eq. (2) we see that the rate of heat transfer from left to right across the cross section at x = x0 is now given by H (x0 , t) = −κ(x0 ) A(x0 )u x (x0 , t)
(17)
617
Appendix B
with a similar expression for H (x0 + x, t). If we introduce these quantities into Eq. (4) and eventually into Eq. (9), and proceed as before, we obtain the partial differential equation (κ Au x )x = sρ Au t .
(18)
We will usually write Eq. (18) in the form r (x)u t = [ p(x)u x ]x ,
(19)
where p(x) = κ(x) A(x) and r (x) = s(x)ρ(x) A(x). Note that both these quantities are intrinsically positive. A second generalization occurs if there are other ways in which heat enters or leaves the bar. Suppose that there is a source that adds heat to the bar at a rate G(x, t, u) per unit time per unit length, where G(x, t, u) > 0. In this case we must add the term G(x, t, u) x t to the left side of Eq. (9), and this leads to the differential equation r (x)u t = [ p(x)u x ]x + G(x, t, u).
(20)
If G(x, t, u) < 0, then we speak of a sink that removes heat from the bar at the rate G(x, t, u) per unit time per unit length. To make the problem tractable we must restrict the form of the function G. In particular, we assume that G is linear in u and that the coefficient of u does not depend on t. Thus we write G(x, t, u) = F(x, t) − q(x)u.
(21)
The minus sign in Eq. (21) has been introduced so that certain equations that appear later will have their customary forms. Substituting from Eq. (21) into Eq. (20), we obtain r (x)u t = [ p(x)u x ]x − q(x)u + F(x, t).
(22)
This equation is sometimes called the generalized heat conduction equation. Boundary value problems for Eq. (22) will be discussed to some extent in Chapter 11. Finally, if instead of a one-dimensional bar, we consider a body with more than one significant space dimension, then the temperature is a function of two or three space coordinates rather than of x alone. Considerations similar to those leading to Eq. (10) can be employed to derive the heat conduction equation in two dimensions, α 2 (u x x + u yy ) = u t ,
(23)
α 2 (u x x + u yy + u zz ) = u t .
(24)
or in three dimensions,
The boundary conditions corresponding to Eqs. (12) and (13) for multidimensional problems correspond to a prescribed temperature distribution on the boundary, or to an insulated boundary. Similarly, the initial temperature distribution will in general be a function of x and y for Eq. (23), and a function of x, y, and z for Eq. (24).
APPENDIX
B
Derivation of the Wave Equation. In this appendix we derive the wave equation in one space dimension as it applies to the transverse vibrations of an elastic string, or cable; the elastic string may be thought of as a violin string, a guy wire, or possibly an electric power line. The same equation, however, with the variables properly interpreted, occurs in many other wave problems having only one significant space variable.
618
Chapter 10. Partial Differential Equations and Fourier Series
Consider a perfectly flexible elastic string stretched tightly between supports fixed at the same horizontal level (see Figure 10.B.1a). Let the x-axis lie along the string with the endpoints located at x = 0 and x = L. If the string is set in motion at some initial time t = 0 (by plucking, for example) and is thereafter left undisturbed, it will vibrate freely in a vertical plane provided that damping effects, such as air resistance, are neglected. To determine the differential equation governing this motion we will consider the forces acting on a small element of the string of length x lying between the points x and x + x (see Figure 10.B.1b). We assume that the motion of the string is small, and as a consequence, each point on the string moves solely in a vertical line. We denote by u(x, t) the vertical displacement of the point x at the time t. Let the tension in the string, which always acts in the tangential direction, be denoted by T (x, t), and let ρ denote the mass per unit length of the string. Newton’s law, as it applies to the element x of the string, states that the net external force, due to the tension at the ends of the element, must be equal to the product of the mass of the element and the acceleration of its mass center. Since there is no horizontal acceleration, the horizontal components must satisfy T (x + x, t) cos(θ + θ) − T (x, t) cos θ = 0.
(1)
If we denote the horizontal component of the tension (see Figure 10.B.1c) by H , then Eq. (1) states that H is independent of x. On the other hand, the vertical components satisfy T (x + x, t) sin(θ + θ) − T (x, t) sin θ = ρ x u tt (x, t),
(2)
where x is the coordinate of the center of mass of the element of the string under consideration. Clearly, x lies in the interval x < x < x + x. The weight of the string, u T
T x
x=0
x=L (a) T (x + ∆x, t) θ + ∆θ T θ
θ
V = T sin θ
H = T cos θ
T(x, t)
x
x + ∆x
x (b)
(c)
FIGURE 10.B.1 (a) An elastic string under tension. (b) An element of the displaced string. (c) Resolution of the tension T into components.
619
Appendix B
which acts vertically downward, is assumed to be negligible, and has been neglected in Eq. (2). If the vertical component of T is denoted by V , then Eq. (2) can be written as V (x + x, t) − V (x, t) = ρu tt (x, t). x Passing to the limit as x → 0 gives Vx (x, t) = ρu tt (x, t).
(3)
To express Eq. (3) entirely in terms of u we note that V (x, t) = H (t) tan θ = H (t)u x (x, t). Hence Eq. (3) becomes (H u x )x = ρu tt , or, since H is independent of x, H u x x = ρu tt .
(4)
For small motions of the string it is permissible to replace H = T cos θ by T . Then Eq. (4) takes its customary form
where
a 2 u x x = u tt ,
(5)
a 2 = T /ρ.
(6)
We will assume further that a 2 is a constant, although this is not required in our derivation, even for small motions. Equation (5) is called the wave equation for one space dimension. Since T has the dimension of force, and ρ that of mass/length, it follows that the constant a has the dimension of velocity. It is possible to identify a as the velocity with which a small disturbance (wave) moves along the string. According to Eq. (6) the wave velocity a varies directly with the tension in the string, but inversely with the density of the string material. These facts are in agreement with experience. As in the case of the heat conduction equation, there are various generalizations of the wave equation (5). One important equation is known as the telegraph equation and has the form u tt + cu t + ku = a 2 u x x + F(x, t),
(7)
where c and k are nonnegative constants. The terms cu t , ku, and F(x, t) arise from a viscous damping force, an elastic restoring force, and an external force, respectively. Note the similarity of Eq. (7), except for the term a 2 u x x , with the equation for the spring–mass system derived in Section 3.8; the additional term a 2 u x x arises from a consideration of internal elastic forces. For a vibrating system with more than one significant space coordinate, it may be necessary to consider the wave equation in two dimensions, a 2 (u x x + u yy ) = u tt ,
(8)
a 2 (u x x + u yy + u zz ) = u tt .
(9)
or in three dimensions,
620 REFERENCES
Chapter 10. Partial Differential Equations and Fourier Series The following books contain additional information on Fourier series:
Buck, R. C., and Buck, E. F., Advanced Calculus (3rd ed.) (New York: McGraw-Hill, 1978). Carslaw, H. S., Introduction to the Theory of Fourier’s Series and Integrals (3rd ed.) (Cambridge: Cambridge University Press, 1930; New York: Dover, 1952). Courant, R., and John, F., Introduction to Calculus and Analysis (New York: Wiley-Interscience, 1965; reprinted by Springer-Verlag, New York, 1989). Kaplan, W., Advanced Calculus (4th ed.) (Reading, MA: Addison-Wesley, 1991). A brief biography of Fourier and an annotated copy of his 1807 paper are contained in:
Grattan-Guinness, I., Joseph Fourier 1768–1830 (Cambridge, MA: MIT Press, 1973). Useful references on partial differential equations and the method of separation of variables include the following:
Churchill, R. V., and Brown, J. W., Fourier Series and Boundary Value Problems (5th ed.) (New York: McGraw-Hill, 1993). Haberman, R., Elementary Applied Partial Differential Equations (3rd ed.) (Englewood Cliffs, NJ: Prentice Hall, 1998). Pinsky, M. A., Partial Differential Equations and Boundary Value Problems with Applications (3rd ed.) (Boston: WCB/McGraw-Hill, 1998). Powers, D. L., Boundary Value Problems (4th ed.) (San Diego: Academic Press, 1999). Strauss, W. A., Partial Differential Equations, an Introduction (New York: Wiley, 1992). Weinberger, H. F., A First Course in Partial Differential Equations (New York: Wiley, 1965; New York: Dover, 1995).
CHAPTER
11
Boundary Value Problems and Sturm–Liouville Theory As a result of separating variables in a partial differential equation in Chapter 10 we repeatedly encountered the differential equation X + λX = 0,
0<x
with the boundary conditions X (0) = 0,
X (L) = 0.
This boundary value problem is the prototype of a large class of problems that are important in applied mathematics. These problems are known as Sturm–Liouville boundary value problems. In this chapter we discuss the major properties of Sturm–Liouville problems and their solutions; in the process we are able to generalize somewhat the method of separation of variables for partial differential equations.
11.1 The Occurrence of Two-Point Boundary Value Problems In Chapter 10 we described the method of separation of variables as a means of solving certain problems involving partial differential equations. The heat conduction problem consisting of the partial differential equation α2u x x = u t ,
0 < x < L,
t >0
(1)
621
622
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
subject to the boundary conditions u(0, t) = 0,
u(L , t) = 0,
t >0
(2)
and the initial condition u(x, 0) = f (x),
0 ≤ x ≤ L,
(3)
is typical of the problems considered there. A crucial part of the process of solving such problems is to find the eigenvalues and eigenfunctions of the differential equation X + λX = 0,
0<x
(4)
with the boundary conditions X (0) = 0,
X (L) = 0
(5)
X (0) = 0,
X (L) = 0.
(6)
or perhaps
The sine or cosine functions that result from solving Eq. (4) subject to the boundary conditions (5) or (6) are used to expand the initial temperature distribution f (x) in a Fourier series. In this chapter we extend and generalize the results of Chapter 10. Our main goal is to show how the method of separation of variables can be used to solve problems somewhat more general than that of Eqs. (1), (2), and (3). We are interested in three types of generalizations. First, we wish to consider more general partial differential equations, for example, the equation r (x)u t = [ p(x)u x ]x − q(x)u + F(x, t).
(7)
This equation can arise, as indicated in Appendix A of Chapter 10, in the study of heat conduction in a bar of variable material properties in the presence of heat sources. If p and r are constants, and if the source terms qu and F are zero, then Eq. (7) reduces to Eq. (1). The partial differential equation (7) also occurs in the investigation of other phenomena of a diffusive character. A second generalization is to allow more general boundary conditions. In particular, we wish to consider boundary conditions of the form u x (0, t) − h 1 u(0, t) = 0,
u x (L , t) + h 2 u(L , t) = 0.
(8)
Such conditions occur when the rate of heat flow through an end of the bar is proportional to the temperature there. Usually, h 1 and h 2 are nonnegative constants, but in some cases they may be negative or depend on t. The boundary conditions (2) are obtained in the limit as h 1 → ∞ and h 2 → ∞. The other important limiting case, h 1 = h 2 = 0, gives the boundary conditions for insulated ends. The final generalization that we discuss in this chapter concerns the geometry of the region in which the problem is posed. The results of Chapter 10 are adequate only for a rather restricted class of problems, chiefly those in which the region of interest is rectangular or, in a few cases, circular. Later in this chapter we consider certain problems posed in a few other geometrical regions. Let us consider the equation r (x)u t = [ p(x)u x ]x − q(x)u
(9)
11.1
623
The Occurrence of Two-Point Boundary Value Problems
obtained by setting the term F(x, t) in Eq. (7) equal to zero. To separate the variables we assume that u(x, t) = X (x)T (t),
(10)
and substitute for u in Eq. (9). We obtain r (x)X T = [ p(x)X ] T − q(x)X T
(11)
or, upon dividing by r (x)X T , [ p(x)X ] q(x) T = − = −λ. T r (x)X r (x)
(12)
We have denoted the separation constant by −λ in anticipation of the fact that usually it will turn out to be real and negative. From Eq. (12) we obtain the following two ordinary differential equations for X and T : [ p(x)X ] − q(x)X + λr (x)X = 0, T + λT = 0.
(13) (14)
If we substitute from Eq. (10) for u in Eqs. (8) and assume that h 1 and h 2 are constants, then we obtain the boundary conditions X (0) − h 1 X (0) = 0,
X (L) + h 2 X (L) = 0.
(15)
To proceed further we need to solve Eq. (13) subject to the boundary conditions (15). While this is a more general linear homogeneous two-point boundary value problem than the problem consisting of the differential equation (4) and the boundary conditions (5) or (6), the solutions behave very much the same way. For every value of λ, the problem (13), (15) has the trivial solution X (x) = 0. For certain values of λ, called eigenvalues, there are also other nontrivial solutions, called eigenfunctions. These eigenfunctions form the basis for series solutions of a variety of problems in partial differential equations, such as the generalized heat conduction equation (9) subject to the boundary conditions (8) and the initial condition (3). In this chapter we discuss some of the properties of solutions of two-point boundary value problems for second order linear equations. Sometimes we consider the general linear homogeneous equation P(x)y + Q(x)y + R(x)y = 0,
(16)
investigated in Chapter 3. However, for most purposes it is better to discuss equations in which the first and second derivative terms are related as in Eq. (13). It is always possible to transform the general equation (16) so that the derivative terms appear as in Eq. (13) (see Problem 11). Boundary value problems with higher order differential equations can also occur; in them the number of boundary conditions must equal the order of the differential equation. As a rule, the order of the differential equation is even, and half the boundary conditions are given at each end of the interval. It is also possible for a single boundary condition to involve values of the solution and/or its derivatives at both boundary points; for example, y(0) − y(L) = 0.
(17)
624
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
The following example involves one boundary condition of the form (15) and is therefore more complicated than the problems in Section 10.1.
EXAMPLE
1
Find the eigenvalues and the corresponding eigenfunctions of the boundary value problem y + λy = 0, y(0) = 0, y (1) + y(1) = 0.
(18) (19)
One place where this problem occurs is in the heat conduction problem in a bar of unit length. The boundary condition at x = 0 corresponds to a zero temperature there. The boundary condition at x = 1 corresponds to a rate of heat flow that is proportional to the temperature there, and units are chosen so that the constant of proportionality is 1 (see Appendix A of Chapter 10). The solution of the differential equation may have one of several forms, depending on λ, so it is necessary to consider several cases. First, if λ = 0, the general solution of the differential equation is y = c 1 x + c2 .
(20)
The two boundary conditions require that c2 = 0,
2c1 + c2 = 0,
(21)
respectively. The only solution of Eqs. (21) is c1 = c2 = 0, so the boundary value problem has no nontrivial solution in this case. Hence λ = 0 is not an eigenvalue. If λ > 0, then the general solution of the differential equation (18) is √ √ y = c1 sin λ x + c2 cos λ x, (22) √ where λ > 0. The boundary condition at x = 0 requires that c2 = 0; from the boundary condition at x = 1 we then obtain the equation √ √ √ c1 (sin λ + λ cos λ) = 0. For a nontrivial solution y we must have c1 = 0, and thus λ must satisfy √ √ √ sin λ + λ cos λ = 0. (23) √ √ Note that if λ is such that cos √ λ = 0, then sin λ = 0, and Eq. √ (23) is not satisfied. Hence we may assume that cos λ = 0; dividing Eq. (23) by cos λ, we obtain √ √ λ = − tan λ. (24) The solutions of Eq. (24) can be determined√numerically. They√can also be√found √ approximately by sketching the graphs of f ( λ) = λ and g( λ) = − tan λ for √ λ > 0 on the same set of axes, and identifying the points of intersection of the √ two curves (see Figure 11.1.1). The point λ = 0 is√specifically excluded from this argument because the solution (22) is valid only for λ = 0. Despite the fact that the curves intersect there, λ = 0 is not an eigenvalue, as we have already shown. The first three positive solutions of Eq. (24) are λ1 ∼ = 2.029, λ2 ∼ = 4.913, and λ3 ∼ = 7.979. As can be seen from Figure 11.1.1, the other roots are given with reasonable accuracy
11.1
625
The Occurrence of Two-Point Boundary Value Problems
by λn ∼ = (2n − 1)π/2 for n = 4, 5, . . . , the precision of this estimate improving as n increases. Hence the eigenvalues are λ2 ∼ λ1 ∼ = 4.116, = 24.14, (25) 2 2 λ3 ∼ for n = 4, 5, . . . . λn ∼ = 63.66, = (2n − 1) π /4 Finally, since c2 = 0, the eigenfunction corresponding to the eigenvalue λn is φn (x, λn ) = kn sin λn x; n = 1, 2, . . . ,
(26)
where the constant kn remains arbitrary. Next consider λ < 0. In this case it is convenient to let λ = −µ so that µ > 0. Then Eq. (14) becomes y − µy = 0, and its general solution is y = c1 sinh
√
(27)
√ √ µ x + c2 cosh µ x,
(28)
where µ > 0. Proceeding as in the previous case, we find that µ must satisfy the equation √ √ µ = − tanh µ. (29) √ √ √ √ From Figure 11.1.2 it is clear that the graphs of f ( µ) = µ and g( µ) = − tanh µ √ intersect only at the origin. Hence there are no positive values of µ that satisfy Eq. (29), and hence the boundary value problem (18), (19) has no negative eigenvalues. u u = g(√λ ) = – tan √λ
u = f (√λ ) = √λ
3π /2
π π /2 √λ 1
√λ 3
√λ 2
√λ
– π /2 –π – 3π /2
π /2
3π /2
5π /2
FIGURE 11.1.1 Graphical solution of
√
7π /2
λ = − tan
√
λ.
626
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory u u = f (√µ ) = √µ
1
1
õ
2 u = g(√µ ) = –tanh√µ
–1
FIGURE 11.1.2 Graphical solution of
√ √ µ = − tanh µ.
Finally, it is necessary to consider the possibility that λ may be complex. It is possible to show by direct calculation that the problem (18), (19) has no complex eigenvalues. However, in Section 11.2 we consider in more detail a large class of problems that includes this example. One of the things we show there is that every problem in this class has only real eigenvalues. Therefore we omit the discussion of the nonexistence of complex eigenvalues here. Thus we conclude that all the eigenvalues and eigenfunctions of the problem (18), (19) are given by Eqs. (25) and (26).
PROBLEMS
In each of Problems 1 through 6 state whether the given boundary value problem is homogeneous or nonhomogeneous. 1. 2. 3. 4. 5. 6.
y(−1) = 0, y(1) = 0 y + 4y = 0, [(1 + x 2 )y ] + 4y = 0, y(0) = 0, y(1) = 1 y(0) = 0, y(1) = 0 y + 4y = sin x, −y + x 2 y = λy, y (0) − y(0) = 0, y (1) + y(1) = 0 2 −[(1 + x )y ] = λy + 1, y(−1) = 0, y(1) = 0 −y = λ(1 + x 2 )y, y(0) = 0, y (1) + 3y(1) = 0
In each of Problems 7 through 10 determine the form of the eigenfunctions and the determinantal equation satisfied by the nonzero eigenvalues. Determine whether λ = 0 is an eigenvalue, and find approximate values for λ1 and λ2 , the nonzero eigenvalues of smallest absolute value. Estimate λn for large values of n. Assume that all eigenvalues are real. 7. y + λy = 0, y(0) = 0, y(π ) + y (π ) = 0 9. y + λy = 0, y(0) − y (0) = 0, y(1) + y (1) = 0
8. y + λy = 0, y(1) + y (1) = 0 y (0) = 0, 10. y − λy = 0, y(1) = 0 y(0) + y (0) = 0,
11. Consider the general linear homogeneous second order equation P(x)y + Q(x)y + R(x)y = 0.
(i)
We seek an integrating factor µ(x) such that, upon multiplying Eq. (i) by µ(x), the resulting equation can be written in the form [µ(x)P(x)y ] + µ(x)R(x)y = 0.
(ii)
11.1
627
The Occurrence of Two-Point Boundary Value Problems
(a) By equating coefficients of y , show that µ must be a solution of Pµ = (Q − P )µ. (b) Solve Eq. (iii) and thereby show that µ(x) =
1 exp P(x)
x x0
(iii)
Q(s) ds. P(s)
(iv)
Compare this result with that of Problem 27 in Section 3.2. In each of Problems 12 through 15 use the method of Problem 11 to transform the given equation into the form [ p(x)y ] + q(x)y = 0. 12. 13. 14. 15.
y − 2x y + λy = 0, x 2 y + x y + (x 2 − ν 2 )y = 0, x y + (1 − x)y + λy = 0, (1 − x 2 )y − x y + α 2 y = 0,
Hermite equation Bessel equation Laguerre equation Chebyshev equation
16. The equation u tt + cu t + ku = a 2 u x x + F(x, t),
(i)
where a 2 > 0, c ≥ 0, and k ≥ 0 are constants, is known as the telegraph equation. It arises in the study of an elastic string under tension (see Appendix B of Chapter 10). Equation (i) also occurs in other applications. Assuming that F(x, t) = 0, let u(x, t) = X (x)T (t), separate the variables in Eq. (i), and derive ordinary differential equations for X and T . 17. Consider the boundary value problem y − 2y + (1 + λ)y = 0,
y(0) = 0,
y(1) = 0.
(a) Introduce a new dependent variable u by the relation y = s(x)u. Determine s(x) so that the differential equation for u has no u term. (b) Solve the boundary value problem for u and thereby determine the eigenvalues and eigenfunctions of the original problem. Assume that all eigenvalues are real. (c) Also solve the given problem directly (without introducing u). 18. Consider the boundary value problem y + 4y + (4 + 9λ)y = 0,
y(0) = 0,
y (L) = 0.
(a) Determine, at least approximately, the real eigenvalues and the corresponding eigenfunctions by proceeding as in Problem 17(a, b). (b) Also solve the given problem directly (without introducing a new variable). Hint: In part (a) be sure to pay attention to the boundary conditions as well as the differential equation. The differential equations in Problems 19 and 20 differ from those in previous problems in that the parameter λ multiplies the y term as well as the y term. In each of these problems determine the real eigenvalues and the corresponding eigenfunctions. 19. y + y + λ(y + y) = 0, y (0) = 0, y(1) = 0
20. x 2 y − λ(x y − y) = 0, y(1) = 0, y(2) − y (2) = 0
21. Consider the problem y + λy = 0,
2y(0) + y (0) = 0,
y(1) = 0.
(a) Find the determinantal equation satisfied by the positive eigenvalues. Show that there is an infinite sequence of such eigenvalues. Find λ1 and λ2 . Then show that λn ∼ = [(2n + 1)π/2]2 for large n.
628
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
(b) Find the determinantal equation satisfied by the negative eigenvalues. Show that there is exactly one negative eigenvalue and find its value. 22. Consider the problem y + λy = 0,
αy(0) + y (0) = 0,
y(1) = 0,
where α is a given constant. (a) Show that for all values of α there is an infinite sequence of positive eigenvalues. (b) If α < 1, show that all (real) eigenvalues are positive. Show that the smallest eigenvalue approaches zero as α approaches 1 from below. (c) Show that λ = 0 is an eigenvalue only if α = 1. (d) If α > 1, show that there is exactly one negative eigenvalue and that this eigenvalue decreases as α increases. 23. Consider the problem y + λy = 0,
y(0) = 0,
y (L) = 0.
Show that if φm and φn are eigenfunctions, corresponding to the eigenvalues λm and λn , respectively, with λm = λn , then L φm (x)φn (x) d x = 0. 0
Hint: Note that φm + λm φm = 0,
φn + λn φn = 0.
Multiply the first of these equations by φn , the second by φm , and integrate from 0 to L, using integration by parts. Finally, subtract one equation from the other. 24. In this problem we consider a higher order eigenvalue problem. In the study of transverse vibrations of a uniform elastic bar one is led to the differential equation y iv − λy = 0, where y is the transverse displacement and λ = mω2 /E I ; m is the mass per unit length of the rod, E is Young’s modulus, I is the moment of inertia of the cross section about an axis through the centroid perpendicular to the plane of vibration, and ω is the frequency of vibration. Thus for a bar whose material and geometric properties are given, the eigenvalues determine the natural frequencies of vibration. Boundary conditions at each end are usually one of the following types: y = y = 0, y = y = 0, y = y = 0,
clamped end, simply supported or hinged end, free end.
For each of the following three cases find the form of the eigenfunctions and the equation satisfied by the eigenvalues of this fourth order boundary value problem. Determine λ1 and λ2 , the two eigenvalues of smallest magnitude. Assume that the eigenvalues are real and positive. y(L) = y (L) = 0 (a) y(0) = y (0) = 0, (b) y(0) = y (0) = 0, y(L) = y (L) = 0 y (L) = y (L) = 0 (cantilevered bar) (c) y(0) = y (0) = 0, 25. This problem illustrates that the eigenvalue parameter sometimes appears in the boundary conditions as well as in the differential equation. Consider the longitudinal vibrations of a uniform straight elastic bar of length L. It can be shown that the axial displacement u(x, t) satisfies the partial differential equation (E/ρ)u x x = u tt ;
0 < x < L,
t > 0,
(i)
11.2
629
Sturm–Liouville Boundary Value Problems
where E is Young’s modulus and ρ is the mass per unit volume. If the end x = 0 is fixed, then the boundary condition there is u(0, t) = 0,
t > 0.
(ii)
Suppose that the end x = L is rigidly attached to a mass m but is otherwise unrestrained. We can obtain the boundary condition here by writing Newton’s law for the mass. From the theory of elasticity it can be shown that the force exerted by the bar on the mass is given by −E Au x (L , t). Hence the boundary condition is E Au x (L , t) + mu tt (L , t) = 0,
t > 0.
(iii)
(a) Assume that u(x, t) = X (x)T (t), and show that X (x) and T (t) satisfy the differential equations X + λX = 0, T + λ(E/ρ)T = 0.
(iv) (v)
(b) Show that the boundary conditions are X (0) = 0,
X (L) − γ λL X (L) = 0,
(vi)
where γ = m/ρ AL is a dimensionless parameter that gives the ratio of the end mass to the mass of the rod. Hint: Use the differential equation for T (t) in simplifying the boundary condition at x = L. (c) Determine the form of the eigenfunctions and the equation satisfied by the real eigenvalues of Eqs. (iv) and (vi). Find the first two eigenvalues λ1 and λ2 if γ = 0.5.
11.2 Sturm–Liouville Boundary Value Problems We now consider two-point boundary value problems of the type obtained in Section 11.1 by separating the variables in a heat conduction problem for a bar of variable material properties and with a source term proportional to the temperature. This kind of problem also occurs in many other applications. These boundary value problems are commonly associated with the names of Sturm and Liouville.1 They consist of a differential equation of the form [ p(x)y ] − q(x)y + λr (x)y = 0
(1)
on the interval 0 < x < 1, together with the boundary conditions a1 y(0) + a2 y (0) = 0, 1
b1 y(1) + b2 y (1) = 0
(2)
Charles-Franc¸ois Sturm (1803 –1855) and Joseph Liouville (1809 –1882), in a series of papers in 1836 and 1837, set forth many properties of the class of boundary value problems associated with their names, including the results stated in Theorems 11.2.1 to 11.2.4. Sturm is also famous for a theorem on the number of real zeros of a polynomial, and in addition, did extensive work in physics and mechanics. Besides his own research in analysis, algebra, and number theory, Liouville was the founder, and for 39 years the editor, of the influential Journal de mathe´matiques pures et applique´es. One of his most important results was the proof (in 1844) of the existence of transcendental numbers.
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Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
at the endpoints. It is often convenient to introduce the linear homogeneous differential operator L defined by L[y] = −[ p(x)y ] + q(x)y.
(3)
Then the differential equation (1) can be written as L[y] = λr (x)y.
(4)
We assume that the functions p, p , q, and r are continuous on the interval 0 ≤ x ≤ 1 and, further, that p(x) > 0 and r (x) > 0 at all points in 0 ≤ x ≤ 1. These assumptions are necessary to render the theory as simple as possible while retaining considerable generality. It turns out that these conditions are satisfied in many significant problems in mathematical physics. For example, the equation y + λy = 0, which arose repeatedly in the preceding chapter, is of the form (1) with p(x) = 1, q(x) = 0, and r (x) = 1. The boundary conditions (2) are said to be separated; that is, each involves only one of the boundary points. These are the most general separated boundary conditions that are possible for a second order differential equation. Before proceeding to establish some of the properties of the Sturm–Liouville problem (1), (2), it is necessary to derive an identity, known as Lagrange’s identity, which is basic to the study of linear boundary value problems. Let u and v be functions having continuous second derivatives on the interval 0 ≤ x ≤ 1. Then2 1 1 L[u]v dx = [−( pu ) v + quv] dx. 0
0
Integrating the first term on the right side twice by parts, we obtain 1 1 1 1 L[u]v dx = − p(x)u (x)v(x) + p(x)u(x)v (x) + [−u( pv ) + uqv] dx 0
0
0
0
1 = − p(x)[u (x)v(x) − u(x)v (x)] + 0
1
u L[v] dx.
0
Hence, on transposing the integral on the right side, we have 1 1 {L[u]v − u L[v]} dx = − p(x)[u (x)v(x) − u(x)v (x)] , 0
(5)
0
which is Lagrange’s identity. Now let us suppose that the functions u and v in Eq. (5) also satisfy the boundary conditions (2). Then, if we assume that a2 = 0 and b2 = 0, the right side of Eq. (5) becomes 1 − p(x)[u (x)v(x) − u(x)v (x)] 0
= − p(1)[u (1)v(1) − u(1)v (1)] + p(0)[u (0)v(0) − u(0)v (0)] b a a b = − p(1) − 1 u(1)v(1) + 1 u(1)v(1) + p(0) − 1 u(0)v(0) + 1 u(0)v(0) b2 b2 a2 a2 = 0. 2
For brevity we sometimes use the notation
1 0
f d x rather than
1 0
f (x) d x in this chapter.
11.2
631
Sturm–Liouville Boundary Value Problems
The same result holds if either a2 or b2 is zero; the proof in this case is even simpler, and is left for you. Thus, if the differential operator L is defined by Eq. (3), and if the functions u and v satisfy the boundary conditions (2), Lagrange’s identity reduces to 1 {L[u]v − u L[v]} dx = 0. (6) 0
Let us now write Eq. (6) in a slightly different way. In Eq. (4) of Section 10.2 we introduced the inner product (u, v) of two real-valued functions u and v on a given interval; using the interval 0 ≤ x ≤ 1, we have 1 u(x)v(x) dx. (7) (u, v) = 0
In this notation Eq. (6) becomes (L[u], v) − (u, L[v]) = 0.
(8)
In proving Theorem 11.2.1 below it is necessary to deal with complex-valued functions. By analogy with the definition in Section 7.2 for vectors, we define the inner product of two complex-valued functions on 0 ≤ x ≤ 1 as 1 u(x)v(x) dx, (9) (u, v) = 0
where v is the complex conjugate of v. Clearly, Eq. (9) coincides with Eq. (7) if u(x) and v(x) are real. It is important to know that Eq. (8) remains valid under the stated conditions if u and v are complex-valued functions and if the inner product (9) is used. 1
L[u]v dx and retrace the steps leading to To see this, one can start with the quantity 0 Eq. (6), making use of the fact that p(x), q(x), a1 , a2 , b1 , and b2 are all real quantities (see Problem 22). We now consider some of the implications of Eq. (8) for the Sturm–Liouville boundary value problem (1), (2). We assume without proof 3 that this problem actually has eigenvalues and eigenfunctions. In Theorems 11.2.1 to 11.2.4 below, we state several of their important, but relatively elementary, properties. Each of these properties is illustrated by the basic Sturm–Liouville problem y + λy = 0,
y(0) = 0,
y(1) = 0,
(10)
whose eigenvalues are λn = n 2 π 2 , with the corresponding eigenfunctions φn (x) = sin nπ x.
Theorem 11.2.1
All the eigenvalues of the Sturm–Liouville problem (1), (2) are real. To prove this theorem let us suppose that λ is a (possibly complex) eigenvalue of the problem (1), (2) and that φ is a corresponding eigenfunction, also possibly complexvalued. Let us write λ = µ + iν and φ(x) = U (x) + i V (x), where µ, ν, U (x), and V (x) are real. Then, if we let u = φ and also v = φ in Eq. (8), we have (L[φ], φ) = (φ, L[φ]). 3
(11)
The proof may be found, for example, in the references by Sagan (Chapter 5) or Birkhoff and Rota (Chapter 10).
632
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
However, we know that L[φ] = λr φ, so Eq. (11) becomes (λr φ, φ) = (φ, λr φ).
(12)
Writing out Eq. (12) in full, using the definition (9) of the inner product, we obtain 1 1 λr (x)φ(x)φ(x) dx = φ(x)λr(x)φ(x) dx. (13) 0
0
Since r (x) is real, Eq. (13) reduces to 1 (λ − λ) r (x)φ(x)φ(x) dx = 0, 0
or
(λ − λ)
1
r (x)[U 2 (x) + V 2 (x)] dx = 0.
(14)
0
The integrand in Eq. (14) is nonnegative and not identically zero. Since the integrand is also continuous, it follows that the integral is positive. Therefore, the factor λ − λ = 2iν must be zero. Hence ν = 0 and λ is real, so the theorem is proved. An important consequence of Theorem 11.2.1 is that in finding eigenvalues and eigenfunctions of a Sturm–Liouville boundary value problem, one need look only for real eigenvalues. Recall that this is what we did in Chapter 10. It is also possible to show that the eigenfunctions of the boundary value problem (1), (2) are real. A proof is sketched in Problem 23.
Theorem 11.2.2
If φ1 and φ2 are two eigenfunctions of the Sturm–Liouville problem (1), (2) corresponding to eigenvalues λ1 and λ2 , respectively, and if λ1 = λ2 , then 1 r (x)φ1 (x)φ2 (x) dx = 0. (15) 0
This theorem expresses the property of orthogonality of the eigenfunctions with respect to the weight function r . To prove the theorem we note that φ1 and φ2 satisfy the differential equations L[φ1 ] = λ1r φ1
(16)
L[φ2 ] = λ2r φ2 ,
(17)
and respectively. If we let u = φ1 , v = φ2 , and substitute for L[u] and L[v] in Eq. (8), we obtain (λ1r φ1 , φ2 ) − (φ1 , λ2r φ2 ) = 0, or, using Eq. (9), 1 r (x)φ1 (x)φ 2 (x) dx − λ2 λ1 0
1 0
φ1 (x)r (x)φ 2 (x) dx = 0.
11.2
633
Sturm–Liouville Boundary Value Problems
Because λ2 , r (x), and φ2 (x) are real, this equation becomes 1 r (x)φ1 (x)φ2 (x) dx = 0. (λ1 − λ2 )
(18)
0
Since by hypothesis λ1 = λ2 , it follows that φ1 and φ2 must satisfy Eq. (15), and the theorem is proved.
Theorem 11.2.3
The eigenvalues of the Sturm–Liouville problem (1), (2) are all simple; that is, to each eigenvalue there corresponds only one linearly independent eigenfunction. Further, the eigenvalues form an infinite sequence, and can be ordered according to increasing magnitude so that λ1 < λ2 < λ3 < · · · < λn < · · · . Moreover, λn → ∞ as n → ∞. The proof of this theorem is somewhat more advanced than those of the two previous theorems, and will be omitted. However, a proof that the eigenvalues are simple is indicated in Problem 20. Again we note that all the properties stated in Theorems 11.2.1 to 11.2.3 are exemplified by the eigenvalues λn = n 2 π 2 and eigenfunctions φn (x) = sin nπ x of the example problem (10). Clearly, the eigenvalues are real. The eigenfunctions satisfy the orthogonality relation 1 1 φm (x)φn (x) dx = sin mπ x sin nπ x dx = 0, m = n, (19) 0
0
which was established in Section 10.2 by direct integration. Further, the eigenvalues can be ordered so that λ1 < λ2 < · · · , and λn → ∞ as n → ∞. Finally, to each eigenvalue there corresponds a single linearly independent eigenfunction. We will now assume that the eigenvalues of the Sturm–Liouville problem (1), (2) are ordered as indicated in Theorem 11.2.3. Associated with the eigenvalue λn is a corresponding eigenfunction φn , determined up to a multiplicative constant. It is often convenient to choose the arbitrary constant multiplying each eigenfunction so as to satisfy the condition 1 r (x)φn2 (x) dx = 1, n = 1, 2, . . . . (20) 0
Equation (20) is called a normalization condition, and eigenfunctions satisfying this condition are said to be normalized. Indeed, in this case, the eigenfunctions are said to form an orthonormal set (with respect to the weight function r ) since they already satisfy the orthogonality relation (15). It is sometimes useful to combine Eqs. (15) and (20) into a single equation. To this end we introduce the symbol δmn , known as the Kronecker (1823–1891) delta and defined by 0, if m = n, δmn = (21) 1, if m = n.
634
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Making use of the Kronecker delta, we can write Eqs. (15) and (20) as 1 r (x)φm (x)φn (x) dx = δmn .
(22)
0
Determine the normalized eigenfunctions of the problem (10): EXAMPLE
1
y + λy = 0,
y(0) = 0,
y(1) = 0.
The eigenvalues of this problem are λ1 = π , λ2 = 4π 2 , . . . , λn = n 2 π 2 , . . . , and the corresponding eigenfunctions are k1 sin π x, k2 sin 2π x, . . . , kn sin nπ x, . . . , respectively. In this case the weight function is r (x) = 1. To satisfy Eq. (20) we must choose kn so that 1 (kn sin nπ x)2 dx = 1 (23) 2
0
for each value of n. Since 1 1 2 2 2 sin nπ x dx = kn ( 12 − 12 cos 2nπ x) dx = 12 kn2 , kn 0
0
√
Eq. (23) is satisfied if kn is chosen to be 2 for each value of n. Hence the normalized eigenfunctions of the given boundary value problem are √ n = 1, 2, 3, . . . . (24) φn (x) = 2 sin nπ x,
Determine the normalized eigenfunctions of the problem EXAMPLE
2
y + λy = 0,
y(0) = 0,
y (1) + y(1) = 0.
(25)
In Example 1 of Section 11.1 we found that the eigenvalues λn satisfy the equation sin λn + λn cos λn = 0, (26) and that the corresponding eigenfunctions are
φn (x) = kn sin λn x,
(27)
where kn is arbitrary. We can determine kn from the normalization condition (20). Since r (x) = 1 in this problem, we have 1 1 2 2 φn (x) dx = kn sin2 λn x dx 0 0 1
sin 2 λn x 1 2 2 x 1 1 − − 2 cos 2 λn x dx = kn = kn 2 2 4 λn 0 0 2 λn − sin 2 λn λn − sin λn cos λn = kn2 = kn2 4 λn 2 λn 1 + cos2 λn 2 = kn , 2
11.2
635
Sturm–Liouville Boundary Value Problems
where in the last step we have used Eq. (26). Hence, to normalize the eigenfunctions φn we must choose 1/2 2 . (28) kn = 1 + cos2 λn The normalized eigenfunctions of the given problem are √ 2 sin λn x φn (x) = ; n = 1, 2, . . . . (1 + cos2 λn )1/2
(29)
We now turn to the question of expressing a given function f as a series of eigenfunctions of the Sturm–Liouville problem (1), (2). We have already seen examples of such expansions in Sections 10.2 to 10.4. For example, it was shown there that if f is continuous and has a piecewise continuous derivative on 0 ≤ x ≤ 1, and satisfies the boundary conditions f (0) = f (1) = 0, then f can be expanded in a Fourier sine series of the form ∞
bn sin nπ x. (30) f (x) = n=1
The functions sin nπ x, n = 1, 2, . . . , are precisely the eigenfunctions of the boundary value problem (10). The coefficients bn are given by 1 f (x) sin nπ x dx (31) bn = 2 0
and the series (30) converges for each x in 0 ≤ x ≤ 1. In a similar way f can be expanded in a Fourier cosine series using the eigenfunctions cos nπ x, n = 0, 1, 2, . . . , of the boundary value problem y + λy = 0, y (0) = 0, y (1) = 0. Now suppose that a given function f , satisfying suitable conditions, can be expanded in an infinite series of eigenfunctions of the more general Sturm–Liouville problem (1), (2). If this can be done, then we have f (x) =
∞
cn φn (x),
(32)
n=1
where the functions φn (x) satisfy Eqs. (1), (2), and also the orthogonality condition (22). To compute the coefficients in the series (32) we multiply Eq. (32) by r (x)φm (x), where m is a fixed positive integer, and integrate from x = 0 to x = 1. Assuming that the series can be integrated term by term we obtain 1 1 ∞ ∞
r (x) f (x)φm (x) dx = cn r (x)φm (x)φn (x) dx = cn δmn . (33) 0
n=1
0
Hence, using the definition of δmn , we have 1 r (x) f (x)φm (x) dx = ( f, r φm ), cm = 0
n=1
m = 1, 2, . . . .
(34)
636
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
The coefficients in the series (32) have thus been formally determined. Equation (34) has the same structure as the Euler–Fourier formulas for the coefficients in a Fourier series, and the eigenfunction series (32) also has convergence properties similar to those of Fourier series. The following theorem is analogous to Theorem 10.3.1.
Theorem 11.2.4
Let φ1 , φ2 , . . . , φn , . . . be the normalized eigenfunctions of the Sturm–Liouville problem (1), (2): [ p(x)y ] − q(x)y + λr (x)y = 0, a1 y(0) + a2 y (0) = 0,
b1 y(1) + b2 y (1) = 0.
Let f and f be piecewise continuous on 0 ≤ x ≤ 1. Then the series (32) whose coefficients cm are given by Eq. (34) converges to [ f (x+) + f (x−)]/2 at each point in the open interval 0 < x < 1. If f satisfies further conditions, then a stronger conclusion can be established. Suppose that, in addition to the hypotheses of Theorem 11.2.4, the function f is continuous on 0 ≤ x ≤ 1. If a2 = 0 in the first of Eqs. (2) [so that φn (0) = 0], then assume that f (0) = 0. Similarly, if b2 = 0 in the second of Eqs. (2), assume that f (1) = 0. Otherwise no boundary conditions need be prescribed for f . Then the series (32) converges to f (x) at each point in the closed interval 0 ≤ x ≤ 1.
Expand the function EXAMPLE
f (x) = x,
3
0≤x ≤1
in terms of the normalized eigenfunctions φn (x) of the problem (25). In Example 2 we found the normalized eigenfunctions to be φn (x) = kn sin λn x,
(35)
(36)
where kn is given by Eq. (28) and λn satisfies Eq. (26). To find the expansion for f in terms of the eigenfunctions φn we write f (x) =
∞
cn φn (x),
n=1
where the coefficients are given by Eq. (34). Thus 1 1 f (x)φn (x) dx = kn x sin λn x dx. cn = 0
0
Integrating by parts, we obtain 2 sin λn sin λn cos λn cn = k n = kn − , λn λn λn
(37)
11.2
637
Sturm–Liouville Boundary Value Problems
where we have used Eq. (26) in the last step. Upon substituting for kn from Eq. (28) we obtain √ 2 2 sin λn . (38) cn = λn (1 + cos2 λn )1/2 Thus
∞
sin λn sin λn x f (x) = 4 . 2 λn ) n=1 λn (1 + cos
(39)
Observe that although the right side of Eq. (39) is a series of sines, it is not included in the discussion of Fourier sine series in Section 10.4.
Self-adjoint Problems. Sturm–Liouville boundary value problems are of great importance in their own right, but they can also be viewed as belonging to a much more extensive class of problems that have many of the same properties. For example, there are many similarities between Sturm–Liouville problems and the algebraic system Ax = λx,
(40)
where the n × n matrix A is real symmetric or Hermitian. Comparing the results mentioned in Section 7.3 with those of this section, we note that in both cases the eigenvalues are real and the eigenfunctions or eigenvectors form an orthogonal set. Further, the eigenfunctions or eigenvectors can be used as the basis for expressing an essentially arbitrary function or vector, respectively, as a sum. The most important difference is that a matrix has only a finite number of eigenvalues and eigenvectors, while a Sturm–Liouville problem has infinitely many. It is interesting and of fundamental importance in mathematics that these seemingly different problems—the matrix problem (40) and the Sturm–Liouville problem (1), (2)—which arise in different ways, are actually part of a single underlying theory. This theory is usually referred to as linear operator theory, and is part of the subject of functional analysis. We now point out some ways in which Sturm–Liouville problems can be generalized, while still preserving the main results of Theorems 11.2.1 to 11.2.4—the existence of a sequence of real eigenvalues tending to infinity, the orthogonality of the eigenfunctions, and the possibility of expressing an arbitrary function as a series of eigenfunctions. In making these generalizations it is essential that the crucial relation (8) remain valid. Let us consider the boundary value problem consisting of the differential equation L[y] = λr (x)y,
0 < x < 1,
(41)
where dn y dy (42) + P0 (x)y, n + · · · + P1 (x) dx dx and n linear homogeneous boundary conditions at the endpoints. If Eq. (8) is valid for every pair of sufficiently differentiable functions that satisfy the boundary conditions, then the given problem is said to be self-adjoint. It is important to observe that Eq. (8) involves restrictions on both the differential equation and the boundary conditions. The differential operator L must be such that the same operator appears in both terms of L[y] = Pn (x)
638
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Eq (8). This requires that L be of even order. Further, a second order operator must have the form (3), a fourth order operator must have the form L[y] = [ p(x)y ] − [q(x)y ] + s(x)y,
(43)
and higher order operators must have an analogous structure. In addition, the boundary conditions must be such as to eliminate the boundary terms that arise during the integration by parts used in deriving Eq. (8). For example, in a second order problem this is true for the separated boundary conditions (2) and also in certain other cases, one of which is given in Example 4 below. Let us suppose that we have a self-adjoint boundary value problem for Eq. (41), where L[y] is given now by Eq. (43). We assume that p, q, r , and s are continuous on 0 ≤ x ≤ 1, and that the derivatives of p and q indicated in Eq. (43) are also continuous. If in addition p(x) > 0 and r (x) > 0 for 0 ≤ x ≤ 1, then there is an infinite sequence of real eigenvalues tending to +∞, the eigenfunctions are orthogonal with respect to the weight function r , and an arbitrary function can be expressed as a series of eigenfunctions. However, the eigenfunctions may not be simple in these more general problems. We turn now to the relation between Sturm–Liouville problems and Fourier series. We have noted previously that Fourier sine and cosine series can be obtained by using the eigenfunctions of certain Sturm–Liouville problems involving the differential equation y + λy = 0. This raises the question of whether we can obtain a full Fourier series, including both sine and cosine terms, by choosing a suitable set of boundary conditions. The answer is provided by the following example, which also serves to illustrate the occurrence of nonseparated boundary conditions.
Find the eigenvalues and eigenfunctions of the boundary value problem EXAMPLE
4
y + λy = 0, y(−L) − y(L) = 0, y (−L) − y (L) = 0.
(44) (45)
This is not a Sturm–Liouville problem because the boundary conditions are not separated. The boundary conditions (45) are called periodic boundary conditions since they require that y and y assume the same values at x = L as at x = −L. Nevertheless, it is straightforward to show that the problem (44), (45) is self-adjoint. A simple calculation establishes that λ0 = 0 is an eigenvalue and that the corresponding eigenfunction is φ0 (x) = 1. Further, there are additional eigenvalues λ1 = (π/L)2 , λ2 = (2π/L)2 , . . . , λn = (nπ/L)2 , . . . . To each of these nonzero eigenvalues there correspond two linearly independent eigenfunctions; for example, corresponding to λn are the two eigenfunctions φn (x) = cos(nπ x/L) and ψn (x) = sin(nπ x/L). This illustrates that the eigenvalues may not be simple when the boundary conditions are not separated. Further, if we seek to expand a given function f of period 2L in a series of eigenfunctions of the problem (44), (45), we obtain the series f (x) =
∞ a0 nπ x nπ x
+ + bn sin , an cos 2 L L n=1
which is just the Fourier series for f .
11.2
639
Sturm–Liouville Boundary Value Problems
We will not give further consideration to problems that have nonseparated boundary conditions, nor will we deal with problems of higher than second order, except in a few problems. There is, however, one other kind of generalization that we do wish to discuss. That is the case in which the coefficients p, q, and r in Eq. (1) do not quite satisfy the rather strict continuity and positivity requirements laid down at the beginning of this section. Such problems are called singular Sturm–Liouville problems, and are the subject of Section 11.4.
PROBLEMS
In each of Problems 1 through 5 determine the normalized eigenfunctions of the given problem. 1. 2. 3. 4. 5.
y(0) = 0, y (1) = 0 y + λy = 0, y + λy = 0, y (0) = 0, y(1) = 0 y + λy = 0, y (0) = 0, y (1) = 0 y (0) = 0, y (1) + y(1) = 0; see Section 11.1, Problem 8. y + λy = 0, y − 2y + (1 + λ)y = 0, y(0) = 0, y(1) = 0; see Section 11.1, Problem 17.
In each of Problems 6 through 9 find the eigenfunction expansion
∞ n=1
an φn (x) of the given
function, using the normalized eigenfunctions of Problem 1. 6. f (x) = 1, 1, 8. f (x) = 0,
0≤x ≤1 0 ≤ x < 12 1 ≤x ≤1 2
7. f (x) = x, 2x, 9. f (x) = 1,
0≤x ≤1 0 ≤ x < 12 1 ≤x ≤1 2 ∞ an φn (x) of the given In each of Problems 10 through 13 find the eigenfunction expansion n=1
function, using the normalized eigenfunctions of Problem 4. 10. f (x) = 1, 12. f (x) = 1 − x,
0≤x ≤1 0≤x ≤1
11. f (x) = x, 1, 13. f (x) = 0,
0≤x ≤1 0 ≤ x < 12 1 ≤x ≤1 2
In each of Problems 14 through 18 determine whether the given boundary value problem is self-adjoint. 14. 15. 16. 17. 18. 19.
y(0) = 0, y(1) = 0 y + y + 2y = 0, (1 + x 2 )y + 2x y + y = 0, y (0) = 0, y(1) + 2y (1) = 0 y + y = λy, y(0) − y (1) = 0, y (0) − y(1) = 0 y(0) − y (1) = 0, y (0) + 2y(1) = 0 (1 + x 2 )y + 2x y + y = λ(1 + x 2 )y, y + λy = 0, y(0) = 0, y(π ) + y (π ) = 0 Show that if the functions u and v satisfy Eqs. (2), and either a2 = 0 or b2 = 0, or both, then 1 p(x)[u (x)v(x) − u(x)v (x)] = 0. 0
20. In this problem we outline a proof of the first part of Theorem 11.2.3: that the eigenvalues of the Sturm–Liouville problem (1), (2) are simple. For a given λ suppose that φ1 and φ2 are two linearly independent eigenfunctions. Compute the Wronskian W (φ1 , φ2 )(x) and use the boundary conditions (2) to show that W (φ1 , φ2 )(0) = 0. Then use Theorems 3.3.2 and 3.3.3 to conclude that φ1 and φ2 cannot be linearly independent as assumed. 21. Consider the Sturm–Liouville problem − [ p(x)y ] + q(x)y = λr (x)y, a1 y(0) + a2 y (0) = 0,
b1 y(1) + b2 y (1) = 0,
640
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
where p, q, and r satisfy the conditions stated in the text. (a) Show that if λ is an eigenvalue and φ a corresponding eigenfunction, then 1 1 b a λ r φ2 d x = ( pφ 2 + qφ 2 ) d x + 1 p(1)φ 2 (1) − 1 p(0)φ 2 (0), b2 a2 0 0 provided that a2 = 0 and b2 = 0. How must this result be modified if a2 = 0 or b2 = 0? (b) Show that if q(x) ≥ 0 and if b1 /b2 and −a1 /a2 are nonnegative, then the eigenvalue λ is nonnegative. (c) Under the conditions of part (b) show that the eigenvalue λ is strictly positive unless q(x) = 0 for each x in 0 ≤ x ≤ 1 and also a1 = b1 = 0. 22. Derive Eq. (8) using the inner product (9) and assuming that u and v are complex-valued functions. 1 Hint: Consider the quantity L[u] v d x, split u and v into real and imaginary parts, and 0 proceed as in the text. 23. In this problem we indicate a proof that the eigenfunctions of the Sturm–Liouville problem (1), (2) are real. (a) Let λ be an eigenvalue and φ a corresponding eigenfunction. Let φ(x) = U (x) + i V (x), and show that U and V are also eigenfunctions corresponding to λ. (b) Using Theorem 11.2.3, or the result of Problem 20, show that U and V are linearly dependent. (c) Show that φ must be real, apart from an arbitrary multiplicative constant that may be complex. 24. Consider the problem x 2 y = λ(x y − y),
y(1) = 0,
y(2) = 0.
Note that λ appears as a coefficient of y as well as of y itself. It is possible to extend the definition of self-adjointness to this type of problem, and to show that this particular problem is not self-adjoint. Show that the problem has eigenvalues, but that none of them is real. This illustrates that in general nonself-adjoint problems may have eigenvalues that are not real. Buckling of an Elastic Column. In an investigation of the buckling of a uniform elastic column of length L by an axial load P (Figure 11.2.1a) one is led to the differential equation y iv + λy = 0,
0 < x < L.
(i)
The parameter λ is equal to P/E I , where E is Young’s modulus and I is the moment of inertia of the cross section about an axis through the centroid perpendicular to the x y-plane. The boundary conditions at x = 0 and x = L depend on how the ends of the column are supported. Typical boundary conditions are y = y = 0, y = y = 0,
clamped end; simply supported (hinged) end.
The bar shown in Figure 11.2.1a is simply supported at x = 0 and clamped at x = L. It is desired to determine the eigenvalues and eigenfunctions of Eq. (i) subject to suitable boundary conditions. In particular, the smallest eigenvalue λ1 gives the load at which the column buckles, or can assume a curved equilibrium position, as shown in Figure 11.2.1b. The corresponding eigenfunction describes the configuration of the buckled column. Note that the differential equation (i) does not fall within the theory discussed in this section. It is possible to show, however, that in each of the cases given here all the eigenvalues are real and positive. Problems 25 and 26 deal with column buckling problems.
11.3
641
Nonhomogeneous Boundary Value Problems y
y
P x
L
x
x=L
x=0 (a)
(b)
FIGURE 11.2.1 (a) A column under compression. (b) Shape of the buckled column.
25. For each of the following boundary conditions find the smallest eigenvalue (the buckling load) of y iv + λy = 0, and also find the corresponding eigenfunction (the shape of the buckled column). y(L) = y (L) = 0 (a) y(0) = y (0) = 0, y(L) = y (L) = 0 (b) y(0) = y (0) = 0, y(L) = y (L) = 0 (c) y(0) = y (0) = 0, 26. In some buckling problems the eigenvalue parameter appears in the boundary conditions as well as in the differential equation. One such case occurs when one end of the column is clamped and the other end is free. In this case the differential equation y iv + λy = 0 must be solved subject to the boundary conditions y(0) = 0,
y (0) = 0,
y (L) = 0,
y (L) + λy (L) = 0.
Find the smallest eigenvalue and the corresponding eigenfunction.
11.3 Nonhomogeneous Boundary Value Problems In this section we discuss how to solve nonhomogeneous boundary value problems, both for ordinary and partial differential equations. Most of our attention is directed toward problems in which the differential equation alone is nonhomogeneous, while the boundary conditions are homogeneous. We assume that the solution can be expanded in a series of eigenfunctions of a related homogeneous problem, and then determine the coefficients in this series so that the nonhomogeneous problem is satisfied. We first describe this method as it applies to boundary value problems for second order linear ordinary differential equations. Later we illustrate its use for partial differential equations by solving a heat conduction problem in a bar with variable material properties and in the presence of source terms. Nonhomogeneous Sturm–Liouville Problems. Consider the boundary value problem consisting of the nonhomogeneous differential equation L[y] = −[ p(x)y ] + q(x)y = µr (x)y + f (x),
(1)
where µ is a given constant and f is a given function on 0 ≤ x ≤ 1, and the boundary conditions a1 y(0) + a2 y (0) = 0,
b1 y(1) + b2 y (1) = 0.
(2)
642
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
As in Section 11.2 we assume that p, p , q, and r are continuous on 0 ≤ x ≤ 1 and that p(x) > 0 and r (x) > 0 there. We will solve the problem (1), (2) by making use of the eigenfunctions of the corresponding homogeneous problem consisting of the differential equation L[y] = λr (x)y
(3)
and the boundary conditions (2). Let λ1 < λ2 < · · · < λn < · · · be the eigenvalues of this problem, and let φ1 , φ2 , . . . , φn , . . . be the corresponding normalized eigenfunctions. We now assume that the solution y = φ(x) of the nonhomogeneous problem (1), (2) can be expressed as a series of the form φ(x) =
∞
bn φn (x).
(4)
n=1
From Eq. (34) of Section 11.2 we know that 1 bn = r (x)φ(x)φn (x) dx,
n = 1, 2, . . . .
(5)
0
However, since we do not know φ(x), we cannot use Eq. (5) to calculate bn . Instead, we will try to determine bn so that the problem (1), (2) is satisfied, and then use Eq. (4) to find φ(x). Note first that φ as given by Eq. (4) always satisfies the boundary conditions (2) since each φn does. Now consider the differential equation that φ must satisfy. This is just Eq. (1) with y replaced by φ: L[φ](x) = µr (x)φ(x) + f (x).
(6)
We substitute the series (4) into the differential equation (6) and attempt to determine bn so that the differential equation is satisfied. The term on the left side of Eq. (6) becomes ∞ ∞
L[φ](x) = L bn φn (x) = bn L[φn ](x) n=1
=
∞
n=1
bn λn r (x)φn (x),
(7)
n=1
where we have assumed that we can interchange the operations of summation and differentiation. Note that the function r appears in Eq. (7) and also in the term µr (x)φ(x) in Eq. (6). This suggests that we rewrite the nonhomogeneous term in Eq. (6) as r (x)[ f (x)/r (x)] so that r (x) also appears as a multiplier in this term. If the function f /r satisfies the conditions of Theorem 11.2.4, then ∞ f (x) cn φn (x), (8) = r (x) n=1 where, using Eq. (5) with φ replaced by f /r , 1 1 f (x) φ (x) dx = r (x) f (x)φn (x) dx, cn = r (x) n 0 0
n = 1, 2, . . . .
(9)
11.3
643
Nonhomogeneous Boundary Value Problems
Upon substituting for φ(x), L[φ](x), and f (x) in Eq. (6) from Eqs. (4), (7), and (8), respectively, we find that ∞
bn λn r (x)φn (x) = µr (x)
n=1
∞
bn φn (x) + r (x)
n=1
∞
cn φn (x).
n=1
After collecting terms and canceling the common nonzero factor r (x) we have ∞
(λn − µ)bn − cn φn (x) = 0.
(10)
n=1
If Eq. (10) is to hold for each x in the interval 0 ≤ x ≤ 1, then the coefficient of φn (x) must be zero for each n; see Problem 14 for a proof of this fact. Hence (λn − µ)bn − cn = 0,
n = 1, 2, . . . .
(11)
We must now distinguish two main cases, one of which also has two subcases. First suppose that µ = λn for n = 1, 2, 3, . . . ; that is, µ is not equal to any eigenvalue of the corresponding homogeneous problem. Then bn =
cn , λn − µ
n = 1, 2, 3, . . . ,
(12)
cn φ (x). λn − µ n
(13)
and y = φ(x) =
∞
n=1
Equation (13), with cn given by Eq. (9), is a formal solution of the nonhomogeneous boundary value problem (1), (2). Our argument does not prove that the series (13) converges. However, any solution of the boundary value problem (1), (2) clearly satisfies the conditions of Theorem 11.2.4; indeed, it satisfies the more stringent conditions given in the paragraph following that theorem. Thus it is reasonable to expect that the series (13) does converge at each point, and this fact can be established provided, for example, that f is continuous. Now suppose that µ is equal to one of the eigenvalues of the corresponding homogeneous problem, say, µ = λm ; then the situation is quite different. In this event, for n = m Eq. (11) has the form 0 · bm − cm = 0. Again we must consider two cases. If µ = λm and cm = 0, then it is impossible to solve Eq. (11) for bm , and the nonhomogeneous problem (1), (2) has no solution. If µ = λm and cm = 0, then Eq. (11) is satisfied regardless of the value of bm ; in other words, bm remains arbitrary. In this case the boundary value problem (1), (2) does have a solution, but it is not unique, since it contains an arbitrary multiple of the eigenfunction φm . Since cm is given by Eq. (9), the condition cm = 0 means that 1 f (x)φm (x) dx = 0. (14) 0
Thus, if µ = λm , the nonhomogeneous boundary value problem (1), (2) can be solved only if f is orthogonal to the eigenfunction corresponding to the eigenvalue λm . The results we have formally obtained are summarized in the following theorem.
644
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Theorem 11.3.1
The nonhomogeneous boundary value problem (1), (2) has a unique solution for each continuous f whenever µ is different from all the eigenvalues of the corresponding homogeneous problem; the solution is given by Eq. (13), and the series converges for each x in 0 ≤ x ≤ 1. If µ is equal to an eigenvalue λm of the corresponding homogeneous problem, then the nonhomogeneous boundary value problem has no solution unless f is orthogonal to φm ; that is, unless the condition (14) holds. In that case, the solution is not unique and contains an arbitrary multiple of φm (x). The main part of Theorem 11.3.1 is sometimes stated in the following way:
Theorem 11.3.2
For a given value of µ, either the nonhomogeneous problem (1), (2) has a unique solution for each continuous f (if µ is not equal to any eigenvalue λm of the corresponding homogeneous problem), or else the homogeneous problem (3), (2) has a nontrivial solution (the eigenfunction corresponding to λm ). This latter form of the theorem is known as the Fredholm4 alternative theorem. This is one of the basic theorems of mathematical analysis and occurs in many different contexts. You may be familiar with it in connection with sets of linear algebraic equations where the vanishing or nonvanishing of the determinant of coefficients replaces the statements about µ and λm . See the discussion in Section 7.3.
Solve the boundary value problem EXAMPLE
y + 2y = −x,
1
y(0) = 0,
(15)
y(1) + y (1) = 0.
(16)
This particular problem can be solved directly in an elementary way and has the solution √ sin 2 x x y= (17) √ √ √ − . sin 2 + 2 cos 2 2 The method of solution described below illustrates the use of eigenfunction expansions, a method that can be employed in many problems not accessible by elementary procedures. To identify Eq. (15) with Eq. (1) it is helpful to write the former as −y = 2y + x.
(18)
We seek the solution of the given problem as a series of normalized eigenfunctions φn of the corresponding homogeneous problem y + λy = 0, 4
y(0) = 0,
y(1) + y (1) = 0.
(19)
The Swedish mathematician Erik Ivar Fredholm (1866 –1927), professor at the University of Stockholm, established the modern theory of integral equations in a fundamental paper in 1903. Fredholm’s work emphasized the similarities between integral equations and systems of linear algebraic equations. There are also many interrelations between differential and integral equations; for example, see Section 2.8 and Problem 21 of Section 6.6.
11.3
645
Nonhomogeneous Boundary Value Problems
These eigenfunctions were found in Example 2 of Section 11.2, and are φn (x) = kn sin λn x,
(20)
where kn = and λn satisfies
2 1 + cos2 λn
1/2
sin λn + λn cos λn = 0.
(21)
(22)
Recall that in Example 1 of Section 11.1 we found that λ3 ∼ = 63.66,
λ2 ∼ λ1 ∼ = 4.116, = 24.14, 2 2 λn ∼ for n = 4, 5, . . . . = (2n − 1) π /4
We assume that y is given by Eq. (4), y=
∞
bn φn (x),
n=1
and it follows that the coefficients bn are found from Eq. (12), bn =
cn , λn − 2
where the cn are the expansion coefficients of the nonhomogeneous term f (x) = x in Eq. (18) in terms of the eigenfunctions φn . These coefficients were found in Example 3 of Section 11.2, and are √ 2 2 sin λn . (23) cn = λn (1 + cos2 λn )1/2 Putting everything together, we finally obtain the solution ∞
sin λn sin λn x. y=4 2 λn ) n=1 λn (λn − 2)(1 + cos
(24)
While Eqs. (17) and (24) are quite different in appearance, they are actually two different expressions for the same function. This follows from the uniqueness part of Theorem 11.3.1 or 11.3.2 since λ = 2 is not an eigenvalue of the homogeneous problem (19). Alternatively, one can show the equivalence of Eqs. (17) and (24) by expanding the right side of Eq. (17) in terms of the eigenfunctions φn (x). For this problem it is fairly obvious that the formula (17) is more convenient than the series formula (24). However, we emphasize again that in other problems we may not be able to obtain the solution except by series (or numerical) methods.
646
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Nonhomogeneous Heat Conduction Problems. To show how eigenfunction expansions can be used to solve nonhomogeneous problems for partial differential equations, let us consider the generalized heat conduction equation r (x)u t = [ p(x)u x ]x − q(x)u + F(x, t)
(25)
with the boundary conditions u x (0, t) − h 1 u(0, t) = 0,
u x (1, t) + h 2 u(1, t) = 0
(26)
and the initial condition u(x, 0) = f (x).
(27)
This problem was previously discussed in Appendix A of Chapter 10 and in Section 11.1. In the latter section we let u(x, t) = X (x)T (t) in the homogeneous equation obtained by setting F(x, t) = 0, and showed that X (x) must be a solution of the boundary value problem − [ p(x)X ] + q(x)X = λr (x)X, X (1) + h 2 X (1) = 0. X (0) − h 1 X (0) = 0,
(28) (29)
If we assume that p, q, and r satisfy the proper continuity requirements and that p(x) and r (x) are always positive, the problem (28), (29) is a Sturm–Liouville problem as discussed in Section 11.2. Thus we obtain a sequence of eigenvalues λ1 < λ2 < · · · < λn < · · · and corresponding normalized eigenfunctions φ1 (x), φ2 (x), . . . , φn (x), . . . . We will solve the given nonhomogeneous boundary value problem (25) to (27) by assuming that u(x, t) can be expressed as a series of eigenfunctions, u(x, t) =
∞
bn (t)φn (x),
(30)
n=1
and then showing how to determine the coefficients bn (t). The procedure is basically the same as that used in the problem (1), (2) considered earlier, although it is more complicated in certain respects. For instance, the coefficients bn must now depend on t, because otherwise u would be a function of x only. Note that the boundary conditions (26) are automatically satisfied by an expression of the form (30) because each φn (x) satisfies the boundary conditions (29). Next we substitute from Eq. (30) for u in Eq. (25). From the first two terms on the right side of Eq. (25) we formally obtain ∞ ∞
∂ bn (t)φn (x) − q(x) bn (t)φn (x) p(x) [ p(x)u x ]x − q(x)u = ∂x n=1 n=1 =
∞
bn (t){[ p(x)φn (x)] − q(x)φn (x)}.
(31)
n=1
Since [ p(x)φn (x)] − q(x)φn (x) = −λn r (x)φn (x), we obtain finally [ p(x)u x ]x − q(x)u = −r (x)
∞
n=1
bn (t)λn φn (x).
(32)
11.3
647
Nonhomogeneous Boundary Value Problems
Now consider the term on the left side of Eq. (25). We have ∞ ∂ b (t)φn (x) ∂t n=1 n ∞
= r (x) bn (t)φn (x).
r (x)u t = r (x)
(33)
n=1
We must also express the nonhomogeneous term in Eq. (25) as a series of eigenfunctions. Once again, it is convenient to look at the ratio F(x, t)/r (x) and to write ∞ F(x, t) γn (t)φn (x), = r (x) n=1
(34)
where the coefficients are given by 1 F(x, t) r (x) γn (t) = φ (x) dx r (x) n 0 1 = F(x, t)φn (x) dx, n = 1, 2, . . . .
(35)
0
Since F(x, t) is given, we can consider the functions γn (t) to be known. Gathering all these results together, we substitute from Eqs. (32), (33), and (34) in Eq. (25), and find that r (x)
∞
bn (t)φn (x) = −r (x)
n=1
∞
bn (t)λn φn (x) + r (x)
n=1
∞
γn (t)φn (x).
(36)
n=1
To simplify Eq. (36) we cancel the common nonzero factor r (x) from all terms, and write everything in one summation: ∞
bn (t) + λn bn (t) − γn (t) φn (x) = 0.
(37)
n=1
Once again, if Eq. (37) is to hold for all x in 0 < x < 1, it is necessary that the quantity in square brackets be zero for each n (again see Problem 14). Hence bn (t) is a solution of the first order linear ordinary differential equation bn (t) + λn bn (t) = γn (t),
n = 1, 2, . . . ,
(38)
where γn (t) is given by Eq. (35). To determine bn (t) completely we must have an initial condition bn (0) = αn ,
n = 1, 2, . . .
(39)
for Eq. (38). This we obtain from the initial condition (27). Setting t = 0 in Eq. (30) and using Eq. (27), we have u(x, 0) =
∞
n=1
bn (0)φn (x) =
∞
n=1
αn φn (x) = f (x).
(40)
648
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Thus the initial values αn are the coefficients in the eigenfunction expansion for f (x). Therefore, 1 αn = r (x) f (x)φn (x) dx, n = 1, 2, . . . . (41) 0
Note that everything on the right side of Eq. (41) is known, so we can consider αn as known. The initial value problem (38), (39) is solved by the methods of Section 2.1. The integrating factor is µ(t) = exp(λn t), and it follows that t −λn t + e−λn (t−s) γn (s) ds, n = 1, 2, . . . . (42) bn (t) = αn e 0
The details of this calculation are left to you. Note that the first term on the right side of Eq. (42) depends on the function f through the coefficients αn , while the second depends on the nonhomogeneous term F through the coefficients γn (s). Thus an explicit solution of the boundary value problem (25) to (27) is given by Eq. (30), ∞
bn (t)φn (x), u(x, t) = n=1
where the coefficients bn (t) are determined from Eq. (42). The quantities αn and γn (s) in Eq. (42) are found in turn from Eqs. (41) and (35), respectively. Summarizing, to use this method to solve a boundary value problem such as that given by Eqs. (25) to (27) we must 1. 2. 3. 4.
Find the eigenvalues λn and the normalized eigenfunctions φn of the homogeneous problem (28), (29). Calculate the coefficients αn and γn (t) from Eqs. (41) and (35), respectively. Evaluate the integral in Eq. (42) to determine bn (t). Sum the infinite series (30).
Since any or all of these steps may be difficult, the entire process can be quite formidable. One redeeming feature is that often the series (30) converges rapidly, in which case only a very few terms may be needed to obtain an adequate approximation to the solution.
Find the solution of the heat conduction problem EXAMPLE
2
u t = u x x + xe−t , u x (1, t) + u(1, t) = 0,
u(0, t) = 0,
u(x, 0) = 0.
(43) (44) (45)
Again we use the normalized eigenfunctions φn of the problem (19), and assume that u is given by Eq. (30), u(x, t) =
∞
n=1
bn (t)φn (x).
11.3
649
Nonhomogeneous Boundary Value Problems
The coefficients bn are determined from the differential equation bn + λn bn = γn (t),
(46)
where λn is the nth eigenvalue of the problem (19) and γn (t) is the nth expansion coefficient of the nonhomogeneous term xe−t in terms of the eigenfunctions φn . Thus we have 1 1 xe−t φn (x) dx = e−t xφn (x) dx γn (t) = 0
where cn =
0
0
= cn e−t , 1
(47)
xφn (x) dx is given by Eq. (23). The initial condition for Eq. (46) is bn (0) = 0
(48)
since the initial temperature distribution (45) is zero everywhere. The solution of the initial value problem (46), (48) is t e(λn −1)t − 1 eλn s cn e−s ds = cn e−λn t bn (t) = e−λn t λn − 1 0 cn (e−t − e−λn t ). (49) = λn − 1 Thus the solution of the heat conduction problem (43) to (45) is given by ∞
sin λn (e−t − e−λn t ) sin λn x . u(x, t) = 4 λn (λn − 1)(1 + cos2 λn ) n=1
(50)
The solution given by Eq. (50) is exact, but complicated. To judge whether a satisfactory approximation to the solution can be obtained by using only a few terms in this series, we must estimate its speed of convergence. First we split the right side of Eq. (50) into two parts: ∞ ∞
sin λn sin λn x e−λn t sin λn sin λn x −t −4 u(x, t) = 4e . 2 2 λn ) λn ) n=1 λn (λn − 1)(1 + cos n=1 λn (λn − 1)(1 + cos (51) Recall from Example 1 in Section 11.1 that the eigenvalues λn are very nearly proportional to n 2 . In the first series on the right side of Eq. (51) the trigonometric factors are all bounded as n → ∞; therefore, this series converges similarly to the series ∞ ∞ λ−2 n −4 . Hence at most two or three terms are required to obtain an excellent n or n=1
n=1
approximation to this part of the solution. The second series contains the additional factor e−λn t , so its convergence is even more rapid for t > 0; all terms after the first are almost surely negligible. Further Discussion. Eigenfunction expansions can be used to solve a much greater variety of problems than the preceding discussion and examples may suggest. The following brief remarks are intended to indicate to some extent the scope of this method:
650
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
1.
Nonhomogeneous Time-Independent Boundary Conditions. Suppose that the boundary conditions (26) in the heat conduction problem are replaced by u(0, t) = T1 ,
u(1, t) = T2 .
(52)
Then we can proceed much as in Section 10.6 to reduce the problem to one with homogeneous boundary conditions; that is, we subtract from u a function v that is chosen to satisfy Eqs. (52). Then the difference w = u − v satisfies a problem with homogeneous boundary conditions, but with modified forcing term and initial condition. This problem can be solved by the procedure described in this section. 2. Nonhomogeneous Time-Dependent Boundary Conditions. Suppose that the boundary conditions (26) are replaced by u(0, t) = T1 (t),
u(1, t) = T2 (t).
(53)
If T1 and T2 are differentiable functions, one can proceed just as in paragraph 1. In the same way it is possible to deal with more general boundary conditions involving both u and u x . If T1 and T2 are not differentiable, however, then the method fails. A further refinement of the method of eigenfunction expansions can be used to cope with this type of problem, but the procedure is more complicated and we will not discuss it. 3. Use of Functions Other Than Eigenfunctions. One potential difficulty in using eigenfunction expansions is that the normalized eigenfunctions of the corresponding homogeneous problem must be found. For a differential equation with variable coefficients this may be difficult, if not impossible. In such a case it is sometimes possible to use other functions, such as eigenfunctions of a simpler problem, that satisfy the same boundary conditions. For instance, if the boundary conditions are u(0, t) = 0,
u(1, t) = 0,
(54)
then it may be convenient to replace the functions φn (x) in Eq. (30) by sin nπ x. These functions at least satisfy the correct boundary conditions, although in general they are not solutions of the corresponding homogeneous differential equation. Next we expand the nonhomogeneous term F(x, t) in a series of the form (34), again with φn (x) replaced by sin nπ x, and then substitute for both u and F in Eq. (25). Upon collecting the coefficients of sin nπ x for each n, we have an infinite set of linear first order differential equations from which to determine b1 (t), b2 (t), . . . . The essential difference between this case and the one considered earlier is that now the equations for the functions bn (t) are coupled. Thus they cannot be solved one by one, as before, but must be dealt with simultaneously. In practice, the infinite system is replaced by an approximating finite system, from which approximations to a finite number of coefficients are calculated. Despite its complexity, this procedure has proved very useful in solving certain types of difficult problems. 4. Higher Order Problems. Boundary value problems for equations of higher than second order can often be solved by eigenfunction expansions. In some cases the procedure parallels almost exactly that for second order problems. However, a variety of complications can also arise, and we will not discuss such problems in this book. Finally, we emphasize that the discussion in this section has been purely formal. Separate and sometimes elaborate arguments must be used to establish convergence of
11.3
651
Nonhomogeneous Boundary Value Problems
eigenfunction expansions, or to justify some of the steps used, such as term-by-term differentiation of eigenfunction series. There are also other altogether different methods for solving nonhomogeneous boundary value problems. One of these leads to a solution expressed as a definite integral rather than as an infinite series. This approach involves certain functions known as Green’s functions, and for ordinary differential equations is the subject of Problems 28 through 36.
PROBLEMS
In each of Problems 1 through 5 solve the given problem by means of an eigenfunction expansion. 1. 2. 3. 4. 5.
y + 2y y + 2y y + 2y y + 2y y + 2y
= −x, y(0) = 0, y(1) = 0 = −x, y(0) = 0, y (1) = 0; see Section 11.2, Problem 7. = −x, y (0) = 0, y (1) = 0; see Section 11.2, Problem 3. = −x, y (0) = 0, y (1) + y(1) = 0; see Section 11.2, Problem 11. = −1 + |1 − 2x|, y(0) = 0, y(1) = 0
In each of Problems 6 through 9 determine a formal eigenfunction series expansion for the solution of the given problem. Assume that f satisfies the conditions of Theorem 11.3.1. State the values of µ for which the solution exists. 6. 7. 8. 9.
y + µy y + µy y + µy y + µy
= − f (x), = − f (x), = − f (x), = − f (x),
y(0) = 0, y (1) = 0 y (0) = 0, y(1) = 0 y (0) = 0, y (1) = 0 y (0) = 0, y (1) + y(1) = 0
In each of Problems 10 through 13 determine whether there is any value of the constant a for which the problem has a solution. Find the solution for each such value. 10. 11. 12. 13.
y(0) = 0, y(1) = 0 y + π 2 y = a + x, y + 4π 2 y = a + x, y(0) = 0, y(1) = 0 y + π 2 y = a, y (0) = 0, y (1) = 0 y(0) = 0, y(1) = 0 y + π 2 y = a − cos π x,
14. Let φ1 , . . . , φn , . . . be the normalized eigenfunctions of the differential equation (3) subject ∞ to the boundary conditions (2). If cn φn (x) converges to f (x), where f (x) = 0 for each n=1
x in 0 ≤ x ≤ 1, show that cn = 0 for each n. Hint: Multiply by r (x)φm (x), integrate, and use the orthogonality property of the eigenfunctions. 15. Let L be a second order linear differential operator. Show that the solution y = φ(x) of the problem L[y] = f (x), b1 y(1) + b2 y (1) = β a1 y(0) + a2 y (0) = α, can be written as y = u + v, where u = φ1 (x) and v = φ2 (x) are solutions of the problems L[u] = 0, a1 u(0) + a2 u (0) = α, b1 u(1) + b2 u (1) = β
and L[v] = f (x), b1 v(1) + b2 v (1) = 0, a1 v(0) + a2 v (0) = 0,
respectively.
652
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
16. Show that the problem y + π 2 y = π 2 x,
y(0) = 1,
y(1) = 0
has the solution y = c1 sin π x + cos π x + x. Also show that this solution cannot be obtained by splitting the problem as suggested in Problem 15, since neither of the two subsidiary problems can be solved in this case. 17. Consider the problem y + p(x)y + q(x)y = 0,
y(0) = a,
y(1) = b.
Let y = u + v, where v is any twice differentiable function satisfying the boundary conditions (but not necessarily the differential equation). Show that u is a solution of the problem u + p(x)u + q(x)u = g(x),
u(0) = 0,
u(1) = 0,
where g(x) = −[v + p(x)v + q(x)v], and is known once v is chosen. Thus nonhomogeneities can be transferred from the boundary conditions to the differential equation. Find a function v for this problem. 18. Using the method of Problem 17, transform the problem y + 2y = 2 − 4x,
y(0) = 1,
y(1) + y (1) = −2
into a new problem in which the boundary conditions are homogeneous. Solve the latter problem by reference to Example 1 of the text. In each of Problems 19 through 22 use eigenfunction expansions to find the solution of the given boundary value problem. u(0, t) = 0, u x (1, t) = 0, u(x, 0) = sin(π x/2); 19. u t = u x x − x, see Problem 2. 20. u t = u x x + e−t , u x (0, t) = 0, u x (1, t) + u(1, t) = 0, u(x, 0) = 1 − x; see Section 11.2, Problems 10 and 12. u(0, t) = 0, u(1, t) = 0, u(x, 0) = 0; 21. u t = u x x + 1 − |1 − 2x|, see Problem 5. 22. u t = u x x + e−t (1 − x), u(0, t) = 0, u x (1, t) = 0, u(x, 0) = 0; see Section 11.2, Problems 6 and 7. 23. Consider the boundary value problem r (x)u t = [ p(x)u x ]x − q(x)u + F(x), u(0, t) = T1 , u(1, t) = T2 , u(x, 0) = f (x). (a) Let v(x) be a solution of the problem [ p(x)v ] − q(x)v = −F(x),
v(0) = T1 ,
v(1) = T2 .
If w(x, t) = u(x, t) − v(x), find the boundary value problem satisfied by w. Note that this problem can be solved by the method of this section. (b) Generalize the procedure of part (a) to the case where u satisfies the boundary conditions u x (0, t) − h 1 u(0, t) = T1 ,
u x (1, t) + h 2 u(1, t) = T2 .
In each of Problems 24 and 25 use the method indicated in Problem 23 to solve the given boundary value problem.
11.3
653
Nonhomogeneous Boundary Value Problems
24. u t = u x x − 2, u(0, t) = 1, u(1, t) = 0, u(x, 0) = x 2 − 2x + 2
25. u t = u x x − π 2 cos π x, u x (0, t) = 0, u(1, t) = 1, u(x, 0) = cos(3π x/2) − cos π x
26. The method of eigenfunction expansions is often useful for nonhomogeneous problems related to the wave equation or its generalizations. Consider the problem r (x)u tt = [ p(x)u x ]x − q(x)u + F(x, t), u x (0, t) − h 1 u(0, t) = 0, u x (1, t) + h 2 u(1, t) = 0, u(x, 0) = f (x), u t (x, 0) = g(x).
(i) (ii) (iii)
This problem can arise in connection with generalizations of the telegraph equation (Problem 16 in Section 11.1) or the longitudinal vibrations of an elastic bar (Problem 25 in Section 11.1). (a) Let u(x, t) = X (x)T (t) in the homogeneous equation corresponding to Eq. (i) and show that X (x) satisfies Eqs. (28) and (29) of the text. Let λn and φn (x) denote the eigenvalues and normalized eigenfunctions of this problem. ∞ (b) Assume that u(x, t) = bn (t)φn (x), and show that bn (t) must satisfy the initial value n=1
problem bn (t) + λn bn (t) = γn (t),
bn (0) = αn ,
bn (0) = βn ,
where αn , βn , and γn (t) are the expansion coefficients for f (x), g(x), and F(x, t)/r (x) in terms of the eigenfunctions φ1 (x), . . . , φn (x), . . . . 27. In this problem we explore a little further the analogy between Sturm–Liouville boundary value problems and Hermitian matrices. Let A be an n × n Hermitian matrix with eigenvalues λ1 , . . . , λn and corresponding orthogonal eigenvectors (1) , . . . , (n) . Consider the nonhomogeneous system of equations Ax − µx = b,
(i)
where µ is a given real number and b is a given vector. We will point out a way of solving Eq. (i) that is analogous to the method presented in the text for solving Eqs. (1) and (2). n bi (i) , where bi = (b, (i) ). (a) Show that b = i=1
(b) Assume that x =
n
i=1
ai (i) and show that for Eq. (i) to be satisfied, it is necessary that
ai = bi /(λi − µ). Thus
x=
n
(b, (i) ) i=1
λi − µ
(i) ,
(ii)
provided that µ is not one of the eigenvalues of A, µ = λi for i = 1, . . . , n. Compare this result with Eq. (13). Green’s5 Functions.
Consider the nonhomogeneous system of algebraic equations Ax − µx = b,
5
(i)
Green’s functions are named after George Green (1793 –1841) of England. He was almost entirely self-taught in mathematics, and made significant contributions to electricity and magnetism, fluid mechanics, and partial differential equations. His most important work was an essay on electricity and magnetism that was published privately in 1828. In this paper Green was the first to recognize the importance of potential functions. He introduced the functions now known as Green’s functions as a means of solving boundary value problems, and developed the integral transformation theorems of which Green’s theorem in the plane is a particular case. However, these results did not become widely known until Green’s essay was republished in the 1850s through the efforts of William Thomson (Lord Kelvin).
654
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
where A is an n × n Hermitian matrix, µ is a given real number, and b is a given vector. Instead of using an eigenvector expansion as in Problem 27, we can solve Eq. (i) by computing the inverse matrix (A −µI)−1 , which exists if µ is not an eigenvalue of A. Then x = (A − µI)−1 b.
(ii)
Problems 28 through 36 indicate a way of solving nonhomogeneous boundary value problems that is analogous to using the inverse matrix for a system of linear algebraic equations. The Green’s function plays a part similar to the inverse of the matrix of coefficients. This method leads to solutions expressed as definite integrals rather than as infinite series. Except in Problem 35 we will assume that µ = 0 for simplicity. 28. (a) Show by the method of variation of parameters that the general solution of the differential equation −y = f (x) can be written in the form
y = φ(x) = c1 + c2 x −
x
(x − s) f (s) ds,
0
where c1 and c2 are arbitrary constants. (b) Let y = φ(x) also be required to satisfy the boundary conditions y(0) = 0, y(1) = 0. Show that in this case 1 c2 = (1 − s) f (s) ds. c1 = 0, 0
(c) Show that, under the conditions of parts (a) and (b), φ(x) can be written in the form 1 x s(1 − x) f (s) ds + x(1 − s) f (s) ds. φ(x) = 0
x
(d) Defining
G(x, s) =
show that the solution takes the form
s(1 − x), x(1 − s),
φ(x) =
1
0 ≤ s ≤ x, x ≤ s ≤ 1,
G(x, s) f (s) ds.
0
The function G(x, s) appearing under the integral sign is a Green’s function. The usefulness of a Green’s function solution rests on the fact that the Green’s function is independent of the nonhomogeneous term in the differential equation. Thus, once the Green’s function is determined, the solution of the boundary value problem for any nonhomogeneous term f (x) is obtained by a single integration. Note further that no determination of arbitrary constants is required, since φ(x) as given by the Green’s function integral formula automatically satisfies the boundary conditions. 29. By a procedure similar to that in Problem 28 show that the solution of the boundary value problem −(y + y) = f (x), is
y(0) = 0,
1
y = φ(x) = 0
y(1) = 0
G(x, s) f (s) ds,
11.3
655
Nonhomogeneous Boundary Value Problems
where
sin s sin(1 − x) , sin 1 G(x, s) = sin x sin(1 − s) , sin 1
0 ≤ s ≤ x, x ≤ s ≤ 1.
30. It is possible to show that the Sturm–Liouville problem L[y] = −[ p(x)y ] + q(x)y = f (x),
a1 y(0) + a2 y (0) = 0,
b1 y(1) + b2 y (1) = 0
(i) (ii)
has a Green’s function solution y = φ(x) =
1
G(x, s) f (s) ds,
(iii)
0
provided that λ = 0 is not an eigenvalue of L[y] = λy subject to the boundary conditions (ii). Further, G(x, s) is given by −y1 (s)y2 (x)/ p(x)W (y1 , y2 )(x), 0 ≤ s ≤ x, (iv) G(x, s) = −y1 (x)y2 (s)/ p(x)W (y1 , y2 )(x), x ≤ s ≤ 1, where y1 is a solution of L[y] = 0 satisfying the boundary condition at x = 0, y2 is a solution of L[y] = 0 satisfying the boundary condition at x = 1, and W (y1 , y2 ) is the Wronskian of y1 and y2 . (a) Verify that the Green’s function obtained in Problem 28 is given by formula (iv). (b) Verify that the Green’s function obtained in Problem 29 is given by formula (iv). (c) Show that p(x)W (y1 , y2 )(x) is a constant, by showing that its derivative is zero. (d) Using Eq. (iv) and the result of part (c), show that G(x, s) = G(s, x). (e) Verify that y = φ(x) from Eq. (iii) with G(x, s) given by Eq. (iv) satisfies the differential equation (i) and the boundary conditions (ii). In each of Problems 31 through 34 solve the given boundary value problem by determining the appropriate Green’s function and expressing the solution as a definite integral. Use Eqs. (i) to (iv) of Problem 30. 31. 32. 33. 34.
y (0) = 0, y(1) = 0 −y = f (x), −y = f (x), y(0) = 0, y(1) + y (1) = 0 −(y + y) = f (x), y (0) = 0, y(1) = 0 −y = f (x), y(0) = 0, y (1) = 0
35. Consider the boundary value problem L[y] = −[ p(x)y ] + q(x)y = µr (x)y + f (x),
a1 y(0) + a2 y (0) = 0,
b1 y(1) + b2 y (1) = 0.
(i) (ii)
According to the text, the solution y = φ(x) is given by Eq. (13), where cn is defined by Eq. (9), provided that µ is not an eigenvalue of the corresponding homogeneous problem. In this case it can also be shown that the solution is given by a Green’s function integral of the form 1 G(x, s, µ) f (s) ds. (iii) y = φ(x) = 0
Note that in this problem the Green’s function also depends on the parameter µ.
656
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
(a) Show that if these two expressions for φ(x) are to be equivalent, then G(x, s, µ) =
∞
φi (x)φi (s) , λi − µ i=1
(iv)
where λi and φi are the eigenvalues and eigenfunctions, respectively, of Eqs. (3), (2) of the text. Again we see from Eq. (iv) that µ cannot be equal to any eigenvalue λi . (b) Derive Eq. (iv) directly by assuming that G(x, s, µ) has the eigenfunction expansion G(x, s, µ) =
∞
ai (x, µ)φi (s);
(v)
i=1
determine ai (x, µ) by multiplying Eq. (v) by r (s)φ j (s) and integrating with respect to s from s = 0 to s = 1. Hint: Show first that λi and φi satisfy the equation 1 G(x, s, µ)r (s)φi (s) ds. (vi) φi (x) = (λi − µ) 0
36. Consider the boundary value problem −d 2 y/ds 2 = δ(s − x),
y(0) = 0,
y(1) = 0,
where s is the independent variable, s = x is a definite point in the interval 0 < s < 1, and δ is the Dirac delta function (see Section 6.5). Show that the solution of this problem is the Green’s function G(x, s) obtained in Problem 28. In solving the given problem, note that δ(s − x) = 0 in the intervals 0 ≤ s < x and x < s ≤ 1. Note further that −dy/ds experiences a jump of magnitude 1 as s passes through the value x. This problem illustrates a general property, namely, that the Green’s function G(x, s) can be identified as the response at the point s to a unit impulse at the point x. A more general nonhomogeneous term f on 0 ≤ x ≤ 1 can be regarded as a continuous distribution of impulses with magnitude f (x) at the point x. The solution of a nonhomogeneous boundary value problem in terms of a Green’s function integral can then be interpreted as the result of superposing the responses to the set of impulses represented by the nonhomogeneous term f (x).
11.4 Singular Sturm–Liouville Problems In the preceding sections of this chapter we considered Sturm–Liouville boundary value problems: the differential equation L[y] = −[ p(x)y ] + q(x)y = λr (x)y,
0 < x < 1,
(1)
together with boundary conditions of the form a1 y(0) + a2 y (0) = 0, b1 y(1) + b2 y (1) = 0.
(2) (3)
Until now, we have always assumed that the problem is regular; that is, p is differentiable, q and r are continuous, and p(x) > 0 and r (x) > 0 at all points in the closed
11.4
657
Singular Sturm–Liouville Problems
interval. However, there are also equations of physical interest in which some of these conditions are not satisfied. For example, suppose that we wish to study Bessel’s equation of order ν on the interval 0 < x < 1. This equation is sometimes written in the form6 −(x y ) +
ν2 y = λx y, x
(4)
so that p(x) = x, q(x) = ν 2 /x, and r (x) = x. Thus p(0) = 0, r (0) = 0, and q(x) is unbounded and hence discontinuous as x → 0. However, the conditions imposed on regular Sturm–Liouville problems are met elsewhere in the interval. Similarly, for Legendre’s equation we have −[(1 − x 2 )y ] = λy,
−1 < x < 1,
(5)
where λ = α(α + 1), p(x) = 1 − x 2 , q(x) = 0, and r (x) = 1. Here the required conditions on p, q, and r are satisfied in the interval 0 ≤ x ≤ 1 except at x = 1 where p is zero. We use the term singular Sturm–Liouville problem to refer to a certain class of boundary value problems for the differential equation (1) in which the functions p, q, and r satisfy the conditions stated earlier on the open interval 0 < x < 1, but at least one of these functions fails to satisfy them at one or both of the boundary points. We also prescribe suitable separated boundary conditions, of a kind to be described in more detail later in this section. Singular problems also occur if the interval is unbounded, for example, 0 ≤ x < ∞. We do not consider this latter kind of singular problem in this book. As an example of a singular problem on a finite interval, consider the equation x y + y + λx y = 0,
(6)
−(x y ) = λx y,
(7)
or
on the interval 0 < x < 1, and suppose that λ > 0. This equation arises in the study of free vibrations of a circular elastic membrane, and is discussed √ further in Section 11.5. If we introduce the new independent variable t defined by t = λ x, then √ dy dy = λ , dx dt
d2 y d2 y = λ . dx 2 dt 2
Hence Eq. (6) becomes d 2 y √ dy t t + λ √ y = 0, √ λ 2 + λ dt λ dt λ √ or, if we cancel the common factor λ in each term, t 6
The substitution t =
√
dy d2 y + + t y = 0. 2 dt dt
λ x reduces Eq. (4) to the standard form t 2 y + t y + (t 2 − ν 2 )y = 0.
(8)
658
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Equation (8) is Bessel’s equation of order zero (see Section 5.8). The general solution of Eq. (8) for t > 0 is y = c1 J0 (t) + c2 Y0 (t); hence the general solution of Eq. (7) for x > 0 is √ √ y = c1 J0 ( λ x) + c2 Y0 ( λ x),
(9)
where J0 and Y0 denote the Bessel functions of the first and second kinds of order zero. From Eqs. (7) and (13) of Section 5.8 we have ∞
√ (−1)m λm x 2m J0 ( λ x) = 1 + , 22m (m!)2 m=1
√ 2 Y0 ( λ x) = π
x > 0,
(10)
√ ∞
√ (−1)m+1 Hm λm x 2m λx γ + ln J0 ( λ x) + , 2 22m (m!)2 m=1
x > 0, (11) where Hm = 1 + (1/2) + · · · + (1/m), and γ = lim (Hm − ln m). The graphs of y = m→∞ J0 (x) and y = Y0 (x) are given in Figure 5.8.2. Suppose that we seek a solution of Eq. (7) that also satisfies the boundary conditions y(0) = 0, y(1) = 0,
(12) (13)
which are typical of those we have met in other problems in this chapter. Since J0 (0) = 1 and Y0 (x) → −∞ as x → 0, the condition y(0) = 0 can be satisfied only by choosing c1 = c2 = 0 in Eq. (9). Thus the boundary value problem (7), (12), (13) has only the trivial solution. One interpretation of this result is that the boundary condition (12) at x = 0 is too restrictive for the differential equation (7). This illustrates the general situation, namely, that at a singular boundary point it is necessary to consider a modified type of boundary condition. In the present problem, suppose that we require only that the solution (9) and its derivative remain bounded. In other words, we take as the boundary condition at x = 0 the requirement y, y bounded as x → 0.
(14)
This condition can be satisfied by choosing c2 = 0 in Eq. (9), so as to eliminate the unbounded solution Y0 . The second boundary condition, y(1) = 0, then yields √ J0 ( λ) = 0. (15) It is possible to show7 that Eq. (15) has an infinite set of discrete positive roots, which yield the eigenvalues 0 < λ1 < λ2 < · · · < λn < · · · of the given problem. The corresponding eigenfunctions are
(16) φn (x) = J0 λn x , 7 The function J0 is well tabulated; the roots of Eq. (15) can be found in various tables, for example, those in √ Jahnke and Emde or Abramowitz and Stegun. The first three roots of Eq. (15) are λ = 2.405, 5.520, and 8.654, ∼ respectively, to four significant figures; λn = (n − 1/4)π for large n.
11.4
659
Singular Sturm–Liouville Problems
determined only up to a multiplicative constant. The boundary value problem (7), (13), and (14) is an example of a singular Sturm–Liouville problem. This example illustrates that if the boundary conditions are relaxed in an appropriate way, then a singular Sturm–Liouville problem may have an infinite sequence of eigenvalues and eigenfunctions, just as a regular Sturm–Liouville problem does. Because of their importance in applications, it is worthwhile to investigate singular boundary value problems a little further. There are two main questions that are of concern. 1. 2.
Precisely what type of boundary conditions can be allowed in a singular Sturm– Liouville problem? To what extent do the eigenvalues and eigenfunctions of a singular problem share the properties of eigenvalues and eigenfunctions of regular Sturm–Liouville problems? In particular, are the eigenvalues real, are the eigenfunctions orthogonal, and can a given function be expanded as a series of eigenfunctions? Both these questions can be answered by a study of the identity 1 {L[u]v − u L[v]} dx = 0,
(17)
0
which played an essential part in the development of the theory of regular Sturm– Liouville problems. We therefore investigate the conditions under which this relation holds for singular problems, where the integral in Eq. (17) may now have to be examined as an improper integral. To be definite we consider the differential equation (1) and assume that x = 0 is a singular boundary point, but that x = 1 is not. The boundary condition (3) is imposed at the nonsingular boundary point x = 1, but we leave unspecified, for the moment, the boundary condition at x = 0. Indeed, our principal object is to determine what kinds of boundary conditions are allowable at a singular boundary point if Eq. (17) is to hold. Since the boundary value problem at x = 0, we choose under investigation is singular 1
1
L[u]v dx, instead of L[u]v dx, as in Section > 0 and consider the integral 0 11.2. Afterwards we let approach zero. Assuming that u and v have at least two continuous derivatives on ≤ x ≤ 1, and integrating twice by parts, we find that 1 1 {L[u]v − u L[v]} dx = − p(x)[u (x)v(x) − u(x)v (x)] . (18)
The boundary term at x = 1 is again eliminated if both u and v satisfy the boundary condition (3), and thus, 1 {L[u]v − u L[v]} dx = p()[u ()v() − u()v ()]. (19)
Taking the limit as → 0 yields 1 {L[u]v − u L[v]} dx = lim p()[u ()v() − u()v ()]. →0
0
(20)
Hence Eq. (17) holds if and only if, in addition to the assumptions stated previously, lim p()[u ()v() − u()v ()] = 0
→0
(21)
660
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
for every pair of functions u and v in the class under consideration. Equation (21) is therefore the criterion that determines what boundary conditions are allowable at x = 0 if that point is a singular boundary point. A similar condition applies at x = 1 if that boundary point is singular, namely, lim p(1 − )[u (1 − )v(1 − ) − u(1 − )v (1 − )] = 0.
→0
(22)
In summary, as in Section 11.2, a singular boundary value problem for Eq. (1) is said to be self-adjoint if Eq. (17) is valid, possibly as an improper integral, for each pair of functions u and v with the following properties: They are twice continuously differentiable on the open interval 0 < x < 1, they satisfy a boundary condition of the form (2) at each regular boundary point, and they satisfy a boundary condition sufficient to ensure Eq. (21) if x = 0 is a singular boundary point, or Eq. (22) if x = 1 is a singular boundary point. If at least one boundary point is singular, then the differential equation (1), together with two boundary conditions of the type just described, are said to form a singular Sturm–Liouville problem. For example, for Eq. (7) we have p(x) = x. If both u and v satisfy the boundary condition (14) at x = 0, it is clear that Eq. (21) will hold. Hence the singular boundary value problem, consisting of the differential equation (7), the boundary condition (14) at x = 0, and any boundary condition of the form (3) at x = 1, is self-adjoint. The most striking difference between regular and singular Sturm–Liouville problems is that in a singular problem the eigenvalues may not be discrete. That is, the problem may have nontrivial solutions for every value of λ, or for every value of λ in some interval. In such a case the problem is said to have a continuous spectrum. It may happen that a singular problem has a mixture of discrete eigenvalues and also a continuous spectrum. Finally, it is possible that only a discrete set of eigenvalues exists, just as in the regular case discussed in Section 11.2. For example, this is true of the problem consisting of Eqs. (7), (13), and (14). In general, it may be difficult to determine which case actually occurs in a given problem. A systematic discussion of singular Sturm–Liouville problems is quite sophisticated8 indeed, requiring a substantial extension of the methods presented in this book. We restrict ourselves to some examples related to physical applications; in each of these examples it is known that there is an infinite set of discrete eigenvalues. If a singular Sturm–Liouville problem does have only a discrete set of eigenvalues and eigenfunctions, then Eq. (17) can be used, just as in Section 11.2, to prove that the eigenvalues of such a problem are real, and that the eigenfunctions are orthogonal with respect to the weight function r . The expansion of a given function in terms of a series of eigenfunctions then follows as in Section 11.2. Such expansions are useful, as in the regular case, for solving nonhomogeneous boundary value problems. The procedure is very similar to that described in Section 11.3. Some examples for ordinary differential equations are indicated in Problems 1 to 4, and some problems for partial differential equations appear in Section 11.5. For instance, the eigenfunctions φn (x) = J0 ( λn x) of the singular Sturm–Liouville problem −(x y ) = λx y,
0 < x < 1,
y, y bounded as x → 0, 8
See, for example, Chapter 5 of the book by Yosida.
y(1) = 0
11.4
661
Singular Sturm–Liouville Problems
satisfy the orthogonality relation 1 xφm (x)φn (x) dx = 0,
m = n
(23)
0
with respect to the weight function r (x) = x. Then, if f is a given function, we assume that ∞
cn J0 ( λn x). (24) f (x) = n=1
Multiplying Eq. (24) by x J0 ( λm x) and integrating term by term from x = 0 to x = 1 yield 1 1 ∞
x f (x)J0 ( λm x) dx = cn x J0 ( λm x) J0 ( λn x) dx. (25) 0
n=1
0
Because of the orthogonality condition (23), the right side of Eq. (25) collapses to a single term; hence 1 x f (x)J0 ( λm x) dx , (26) cm = 0 1 2 x J0 ( λm x) dx 0
which determines the coefficients in the series (24). The convergence of the series (24) is established by an extension of Theorem 11.2.4 to cover this case. This theorem can also be shown to hold for other sets of Bessel functions, which are solutions of appropriate boundary value problems, for Legendre polynomials, and for solutions of a number of other singular Sturm–Liouville problems of considerable interest. It must be emphasized that the singular problems mentioned here are not necessarily typical. In general, singular boundary value problems are characterized by continuous spectra, rather than by discrete sets of eigenvalues. The corresponding sets of eigenfunctions are therefore not denumerable, and series expansions of the type described in Theorem 11.2.4 do not exist. They are replaced by appropriate integral representations.
PROBLEMS
1. Find a formal solution of the nonhomogeneous boundary value problem − (x y ) = µx y + f (x), y, y bounded as x → 0,
y(1) = 0,
where f is a given continuous function on 0 ≤ x ≤ 1, and µ is not an eigenvalue of the corresponding homogeneous problem. Hint: Use a series expansion similar to those in Section 11.3. 2. Consider the boundary value problem − (x y ) = λx y, y, y bounded as x → 0,
y (1) = 0.
(a) Show that λ0 = 0 is an eigenvalue of this problem corresponding to the eigenfunction φ0 (x) = 1. If λ > 0, show formally that the eigenfunctions are given by φn (x) =
662
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
J0 ( λn x), where λn is the nth positive root (in increasing order) of the equation √ J0 ( λ) = 0. It is possible to show that there is an infinite sequence of such roots. (b) Show that if m, n = 0, 1, 2, . . . , then 1 xφm (x)φn (x) d x = 0, m = n. 0
(c) Find a formal solution to the nonhomogeneous problem − (x y ) = µx y + f (x), y, y bounded as x → 0,
y (1) = 0,
where f is a given continuous function on 0 ≤ x ≤ 1, and µ is not an eigenvalue of the corresponding homogeneous problem. 3. Consider the problem − (x y ) + (k 2 /x)y = λx y, y, y bounded as x → 0,
y(1) = 0,
where k is a positive integer. √ (a) Using the substitution t = λ x, show that the given differential equation reduces to Bessel’s equation of order k (see Problem 9 of Section 5.8). One solution is Jk (t); a second linearly independent solution, denoted by Yk (t), is unbounded as t → 0. (b) Show formally that the√eigenvalues λ1 , λ2 , . . . of the given problem are the squares of the positive zeros of Jk ( λ), and that the corresponding eigenfunctions are φn (x) = Jk ( λn x). It is possible to show that there is an infinite sequence of such zeros. (c) Show that the eigenfunctions φn (x) satisfy the orthogonality relation 1 xφm (x)φn (x) d x = 0, m = n. 0
(d) Determine the coefficients in the formal series expansion f (x) =
∞
an φn (x).
n=1
(e) Find a formal solution of the nonhomogeneous problem − (x y ) + (k 2 /x)y = µx y + f (x), y, y bounded as x → 0,
y(1) = 0,
where f is a given continuous function on 0 ≤ x ≤ 1, and µ is not an eigenvalue of the corresponding homogeneous problem. 4. Consider Legendre’s equation (see Problems 22 through 24 of Section 5.3) −[(1 − x 2 )y ] = λy subject to the boundary conditions y(0) = 0,
y, y bounded as x → 1.
The eigenfunctions of this problem are the odd Legendre polynomials φ1 (x) = P1 (x) = x, φ2 (x) = P3 (x) = (5x 3 − 3x)/2, . . . , φn (x) = P2n−1 (x), . . . corresponding to the eigenvalues λ1 = 2, λ2 = 4 · 3, . . . , λn = 2n(2n − 1), . . . . (a) Show that 1 φm (x)φn (x) d x = 0, m = n. 0
11.5
Further Remarks on the Method of Separation of Variables: A Bessel Series Expansion
663
(b) Find a formal solution of the nonhomogeneous problem − [(1 − x 2 )y ] = µy + f (x), y(0) = 0,
y, y bounded as x → 1,
where f is a given continuous function on 0 ≤ x ≤ 1, and µ is not an eigenvalue of the corresponding homogeneous problem. 5. The equation (1 − x 2 )y − x y + λy = 0
(i)
is Chebyshev’s equation; see Problem 10 of Section 5.3. (a) Show that Eq. (i) can be written in the form −[(1 − x 2 )1/2 y ] = λ(1 − x 2 )−1/2 y,
−1 < x < 1.
(ii)
(b) Consider the boundary conditions y, y bounded as x → −1,
y, y bounded as x → 1.
(iii)
Show that the boundary value problem (ii), (iii) is self-adjoint. (c) It can be shown that the boundary value problem (ii), (iii) has the eigenvalues λ0 = 0, λ1 = 1, λ2 = 4, . . . , λn = n 2 , . . . . The corresponding eigenfunctions are the Chebyshev polynomials Tn (x): T0 (x) = 1, T1 (x) = x, T2 (x) = 1 − 2x 2 , . . . . Show that 1 Tm (x)Tn (x) d x = 0, m = n. (iv) 2 1/2 −1 (1 − x ) Note that this is a convergent improper integral.
11.5 Further Remarks on the Method of Separation of Variables: A Bessel Series Expansion In this chapter we are interested in extending the method of separation of variables developed in Chapter 10 to a larger class of problems—to problems involving more general differential equations, more general boundary conditions, or different geometrical regions. We indicated in Section 11.3 how to deal with a class of more general differential equations or boundary conditions. Here we concentrate on problems posed in various geometrical regions, with emphasis on those leading to singular Sturm– Liouville problems when the variables are separated. Because of its relative simplicity, as well as the considerable physical significance of many problems to which it is applicable, the method of separation of variables merits its important place in the theory and application of partial differential equations. However, this method does have certain limitations that should not be forgotten. In the first place, the problem must be linear so that the principle of superposition can be invoked to construct additional solutions by forming linear combinations of the fundamental solutions of an appropriate homogeneous problem. As a practical matter, we must also be able to solve the ordinary differential equations, obtained after separating the variables, in a reasonably convenient manner. In some problems to which the method of separation of variables can be applied in principle, it
664
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
is of very limited practical value due to lack of information about the solutions of the ordinary differential equations that appear. Furthermore, the geometry of the region involved in the problem is subject to rather severe restrictions. On one hand, a coordinate system must be employed in which the variables can be separated, and the partial differential equation replaced by a set of ordinary differential equations. For Laplace’s equation there are about a dozen such coordinate systems; only rectangular, circular cylindrical, and spherical coordinates are likely to be familiar to most readers of this book. On the other hand, the boundary of the region of interest must consist of coordinate curves or surfaces, that is, curves or surfaces on which one variable remains constant. Thus, at an elementary level, one is limited to regions bounded by straight lines or circular arcs in two dimensions, or by planes, circular cylinders, circular cones, or spheres in three dimensions. In three-dimensional problems the separation of variables in Laplace’s operator u x x + u yy + u zz leads to the equation X + λX = 0 in rectangular coordinates, to Bessel’s equation in cylindrical coordinates, and to Legendre’s equation in spherical coordinates. It is this fact that is largely responsible for the intensive study that has been made of these equations and the functions defined by them. It is also noteworthy that two of the three most important situations lead to singular, rather than regular, Sturm–Liouville problems. Thus, singular problems are by no means exceptional and may be of even greater interest than regular ones. The remainder of this section is devoted to an example involving an expansion of a given function as a series of Bessel functions. The Vibrations of a Circular Elastic Membrane. In Section 10.7 [Eq. (7)] we noted that the transverse vibrations of a thin elastic membrane are governed by the twodimensional wave equation a 2 (u x x + u yy ) = u tt .
(1)
To study the motion of a circular membrane it is convenient to write Eq. (1) in polar coordinates: 1 1 (2) a 2 u rr + u r + 2 u θθ = u tt . r r We will assume that the membrane has unit radius, that it is fixed securely around its circumference, and that initially it occupies a displaced position independent of the angular variable θ, from which it is released at time t = 0. Because of the circular symmetry of the initial and boundary conditions, it is natural to assume also that u is independent of θ; that is, u is a function of r and t only. In this event the differential equation (2) becomes 1 0 < r < 1, t > 0. (3) a 2 u rr + u r = u tt , r The boundary condition at r = 1 is u(1, t) = 0,
t ≥ 0,
(4)
0 ≤ r ≤ 1, 0 ≤ r ≤ 1,
(5) (6)
and the initial conditions are u(r, 0) = f (r ), u t (r, 0) = 0,
11.5
Further Remarks on the Method of Separation of Variables: A Bessel Series Expansion
665
where f (r ) describes the initial configuration of the membrane. For consistency we also require that f (1) = 0. Finally, we state explicitly the requirement that u(r, t) is to be bounded for 0 ≤ r ≤ 1. Assuming that u(r, t) = R(r )T (t), and substituting for u(r, t) in Eq. (3), we obtain 1 T R + (1/r )R = 2 = −λ2 . R a T
(7)
We have anticipated that the separation constant must be negative by writing it as −λ2 with λ > 0.9 Then Eq. (7) yields the following two ordinary differential equations: r 2 R + r R + λ2r 2 R = 0, T + λ2 a 2 T = 0.
(8) (9)
T (t) = k1 sin λat + k2 cos λat.
(10)
Thus, from Eq. (9),
Introducing the new independent variable ξ = λr into Eq. (8), we obtain ξ2
dR d2 R +ξ + ξ 2 R = 0, 2 dξ dξ
(11)
which is Bessel’s equation of order zero. Thus, R = c1 J0 (ξ ) + c2 Y0 (ξ ),
(12)
where J0 and Y0 are Bessel functions of the first and second kinds, respectively, of order zero (see Section 11.4). In terms of r we have R = c1 J0 (λr ) + c2 Y0 (λr ).
(13)
The boundedness condition on u(r, t) requires that R remain bounded as r → 0. Since Y0 (λr ) → −∞ as r → 0, we must choose c2 = 0. The boundary condition (4) then requires that J0 (λ) = 0.
(14)
Consequently, the allowable values of the separation constant are obtained from the roots of the transcendental equation (14). Recall from Section 11.4 that J0 (λ) has an infinite set of discrete positive zeros, which we denote by λ1 , λ2 , λ3 ,. . . , λn , . . . , ordered in increasing magnitude. Further, the functions J0 (λn r ) are the eigenfunctions of a singular Sturm–Liouville problem, and can be used as the basis of a series expansion for the given function f . The fundamental solutions of this problem, satisfying the partial differential equation (3), the boundary condition (4), and boundedness condition, are u n (r, t) = J0 (λn r ) sin λn at, vn (r, t) = J0 (λn r ) cos λn at,
n = 1, 2, . . . , n = 1, 2, . . . .
(15) (16)
9 By denoting the separation constant by −λ2 , rather than simply by −λ, we avoid the appearance of numerous radical signs in the following discussion.
666
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
Next we assume that u(r, t) can be expressed as an infinite linear combination of the fundamental solutions (15), (16): ∞
u(r, t) = kn u n (r, t) + cn vn (r, t) n=1
=
∞
[kn J0 (λn r ) sin λn at + cn J0 (λn r ) cos λn at].
(17)
n=1
The initial conditions require that u(r, 0) =
∞
cn J0 (λn r ) = f (r )
(18)
λn akn J0 (λn r ) = 0.
(19)
n=1
and u t (r, 0) =
∞
n=1
From Eq. (26) of Section 11.4 we obtain 1 r f (r )J0 (λn r ) dr 0 kn = 0, ; cn = 1 2 r [J0 (λn r )] dr
n = 1, 2, . . . .
(20)
0
Thus, the solution of the partial differential equation (3) satisfying the boundary condition (4) and the initial conditions (5) and (6) is given by ∞
cn J0 (λn r ) cos λn at (21) u(r, t) = n=1
with the coefficients cn defined by Eq. (20).
PROBLEMS
1. Consider Laplace’s equation u x x + u yy = 0 in the parallelogram whose vertices are (0, 0), (2, 0), (3, 2), and (1, 2). Suppose that on the side y = 2 the boundary condition is u(x, 2) = f (x) for 1 ≤ x ≤ 3, and that on the other three sides u = 0 (see Figure 11.5.1). η
y D (1, 2)
A (0, 0)
C (3, 2)
B (2, 0)
D' (0, 2)
x
A' (0, 0)
(a)
FIGURE 11.5.1 The region in Problem 1.
C' (2, 2)
B' (2, 0) (b)
ξ
11.5
Further Remarks on the Method of Separation of Variables: A Bessel Series Expansion
667
(a) Show that there are no nontrivial solutions of the partial differential equation of the form u(x, y) = X (x)Y (y) that also satisfy the homogeneous boundary conditions. (b) Let ξ = x − 12 y, η = y. Show that the given parallelogram in the x y-plane transforms into the square 0 ≤ ξ ≤ 2, 0 ≤ η ≤ 2 in the ξ η-plane. Show that the differential equation transforms into 5 u − u ξ η + u ηη = 0. 4 ξξ How are the boundary conditions transformed? (c) Show that in the ξ η-plane the differential equation possesses no solution of the form u(ξ, η) = U (ξ )V (η). Thus in the x y-plane the shape of the boundary precludes a solution by the method of the separation of variables, while in the ξ η-plane the region is acceptable but the variables in the differential equation can no longer be separated. 2. Find the displacement u(r, t) in a vibrating circular elastic membrane of radius 1 that satisfies the boundary condition u(1, t) = 0, t ≥ 0, and the initial conditions u(r, 0) = 0,
u t (r, 0) = g(r ),
0 ≤ r ≤ 1,
where g(1) = 0. Hint: The differential equation to be satisfied is Eq. (3) of the text. 3. Find the displacement u(r, t) in a vibrating circular elastic membrane of radius 1 that satisfies the boundary condition u(1, t) = 0, t ≥ 0, and the initial conditions u(r, 0) = f (r ),
u t (r, 0) = g(r ),
0 ≤ r ≤ 1,
where f (1) = g(1) = 0. 4. The wave equation in polar coordinates is u rr + (1/r )u r + (1/r 2 )u θθ = a −2 u tt . Show that if u(r, θ, t) = R(r )(θ )T (t), then R, , and T satisfy the ordinary differential equations r 2 R + r R + (λ2 r 2 − n 2 )R = 0, + n 2 = 0, T + λ2 a 2 T = 0. 5. In the circular cylindrical coordinates r, θ, z defined by x = r cos θ,
y = r sin θ,
z = z,
Laplace’s equation is u rr + (1/r )u r + (1/r 2 )u θθ + u zz = 0. (a) Show that if u(r, θ, z) = R(r )(θ )Z (z), then R, , and Z satisfy the ordinary differential equations r 2 R + r R + (λ2 r 2 − n 2 )R = 0, + n 2 = 0, Z − λ2 Z = 0.
668
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
(b) Show that if u(r, θ, z) is independent of θ , then the first equation in part (a) becomes r 2 R + r R + λ2 r 2 R = 0, the second is omitted altogether, and the third is unchanged. 6. Find the steady-state temperature in a semi-infinite rod 0 < z < ∞, 0 ≤ r < 1, if the temperature is independent of θ and approaches zero as z → ∞. Assume that the temperature u(r, z) satisfies the boundary conditions u(1, z) = 0, u(r, 0) = f (r ),
z > 0, 0 ≤ r ≤ 1.
Hint: Refer to Problem 5. 7. The equation vx x + v yy + k 2 v = 0 is a generalization of Laplace’s equation, and is sometimes called the Helmholtz (1821– 1894) equation. (a) In polar coordinates the Helmholtz equation is vrr + (1/r )vr + (1/r 2 )vθθ + k 2 v = 0. If v(r, θ ) = R(r )(θ ), show that R and satisfy the ordinary differential equations r 2 R + r R + (k 2r 2 − λ2 )R = 0,
+ λ2 = 0.
(b) Consider the Helmholtz equation in the disk r < c. Find the solution that remains bounded at all points in the disk, that is periodic in θ with period 2π , and that satisfies the boundary condition v(c, θ ) = f (θ ), where f is a given function on 0 ≤ θ < 2π . Hint: The equation for R is a Bessel equation. See Problem 3 of Section 11.4. 8. Consider the flow of heat in an infinitely long cylinder of radius 1: 0 ≤ r < 1, 0 ≤ θ < 2π , −∞ < z < ∞. Let the surface of the cylinder be held at temperature zero, and let the initial temperature distribution be a function of the radial variable r only. Then the temperature u is a function of r and t only, and satisfies the heat conduction equation α 2 [u rr + (1/r )u r ] = u t ,
0 < r < 1,
t > 0,
and the following initial and boundary conditions: u(r, 0) = f (r ), u(1, t) = 0, Show that u(r, t) =
∞
0 ≤ r ≤ 1, t > 0.
cn J0 (λn r )e−α
2 λ2 t n
,
n=1
where J0 (λn ) = 0. Find a formula for cn . 9. In the spherical coordinates ρ, θ , φ (ρ > 0, 0 ≤ θ < 2π , 0 ≤ φ ≤ π ) defined by the equations x = ρ cos θ sin φ, y = ρ sin θ sin φ, z = ρ cos φ, Laplace’s equation is ρ 2 u ρρ + 2ρu ρ + (csc2 φ)u θθ + u φφ + (cot φ)u φ = 0. (a) Show that if u(ρ, θ, φ) = P(ρ)(θ ) (φ), then P, , and satisfy ordinary differential equations of the form ρ 2 P + 2ρP − µ2 P = 0, + λ2 = 0, (sin2 φ) + (sin φ cos φ) + (µ2 sin2 φ − λ2 ) = 0.
11.6
669
Series of Orthogonal Functions: Mean Convergence
The first of these equations is of the Euler type, while the third is related to Legendre’s equation. (b) Show that if u(ρ, θ, φ) is independent of θ , then the first equation in part (a) is unchanged, the second is omitted, and the third becomes (sin2 φ) + (sin φ cos φ) + (µ2 sin2 φ) = 0. (c) Show that if a new independent variable is defined by s = cos φ, then the equation for in part (b) becomes (1 − s 2 )
d 2 d − 2s + µ2 = 0, ds ds 2
−1 ≤ s ≤ 1.
Note that this is Legendre’s equation. 10. Find the steady-state temperature u(ρ, φ) in a sphere of unit radius if the temperature is independent of θ and satisfies the boundary condition u(1, φ) = f (φ),
0 ≤ φ ≤ π.
Hint: Refer to Problem 9 and to Problems 22 through 29 of Section 5.3. Use the fact that the only solutions of Legendre’s equation that are finite at both ±1 are the Legendre polynomials.
11.6 Series of Orthogonal Functions: Mean Convergence In Section 11.2 we stated that under certain restrictions a given function f can be expanded in a series of eigenfunctions of a Sturm–Liouville boundary value problem, the series converging to [ f (x+) + f (x−)]/2 at each point in the open interval. Under somewhat more restrictive conditions the series converges to f (x) at each point in the closed interval. This type of convergence is referred to as pointwise convergence. In this section we describe a different kind of convergence that is especially useful for series of orthogonal functions, such as eigenfunctions. Suppose that we are given the set of functions φ1 , φ2 , . . . , φn , which are continuous on the interval 0 ≤ x ≤ 1 and satisfy the orthonormality condition 1 0, i = j, r (x)φi (x)φ j (x) dx = (1) 1, i = j, 0 where r is a nonnegative weight function. Suppose also that we wish to approximate a given function f , defined on 0 ≤ x ≤ 1, by a linear combination of φ1 , . . . , φn . That is, if Sn (x) =
n
ai φi (x),
(2)
i=1
we wish to choose the coefficients a1 , . . . , an so that the function Sn will best approximate f on 0 ≤ x ≤ 1. The first problem that we must face in doing this is to state precisely what we mean by “best approximate f on 0 ≤ x ≤ 1.” There are several reasonable meanings that can be attached to this phrase.
670
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
1.
We can choose n points x1 , . . . , xn in the interval 0 ≤ x ≤ 1, and require that Sn (x) have the same value as f (x) at each of these points. The coefficients a1 , . . . , an are found by solving the set of linear algebraic equations n
ai φi (x j ) = f (x j ), j = 1, . . . , n. (3) i=1
2.
This procedure is known as the method of collocation. It has the advantage that it is very easy to write down Eqs. (3); one needs only to evaluate the functions involved at the points x1 , . . . , xn . If these points are well chosen, and if n is fairly large, then presumably Sn (x) will not only be equal to f (x) at the chosen points but will be reasonably close to it at other points as well. However, collocation has several deficiencies. One is that if one more base function φn+1 is added, then one more point xn+1 is required, and all the coefficients must be recomputed. Thus, it is inconvenient to improve the accuracy of a collocation approximation by including additional terms. Further, the coefficients ai depend on the location of the points x1 , . . . , xn , and it is not obvious how best to select these points. Alternatively, we can consider the difference | f (x) − Sn (x)| and try to make it as small as possible. The trouble here is that | f (x) − Sn (x)| is a function of x as well as of the coefficients a1 , . . . , an , and it is not clear how to calculate ai . The choice of ai that makes | f (x) − Sn (x)| small at one point may make it large at another. One way to proceed is to consider instead the least upper bound10 of | f (x) − Sn (x)| for x in 0 ≤ x ≤ 1, and then to choose a1 , . . . , an so as to make this quantity as small as possible. That is, if E n (a1 , . . . , an ) = lub | f (x) − Sn (x)|, 0≤x≤1
3.
(4)
then choose a1 , . . . , an so as to minimize E n . This approach is intuitively appealing, and is often used in theoretical calculations. However, in practice, it is usually very hard, if not impossible, to write down an explicit formula for E n (a1 , . . . , an ). Further, this procedure also shares one of the disadvantages of collocation; namely, on adding an additional term to Sn (x), one must recompute all the preceding coefficients. Thus, it is not often useful in practical problems. Another way to proceed is to consider 1 r (x)| f (x) − Sn (x)| dx. (5) In (a1 , . . . , an ) = 0
If r (x) = 1, then In is the area between the graphs of y = f (x) and y = Sn (x) (see Figure 11.6.1). We can then determine the coefficients ai so as to minimize In . To avoid the complications resulting from calculations with absolute values, it is more convenient to consider instead 1 r (x)[ f (x) − Sn (x)]2 dx (6) Rn (a1 , . . . , an ) = 0
as our measure of the quality of approximation of the linear combination Sn (x) to f (x). While Rn is clearly similar in some ways to In , it lacks the simple geometric interpretation of the latter. Nevertheless, it is much easier mathematically to deal 10 The least upper bound (lub) is an upper bound that is smaller than any other upper bound. The lub of a bounded function always exists, and is equal to its maximum if the function has one.
11.6
671
Series of Orthogonal Functions: Mean Convergence y y = Sn(x)
y = f (x)
1
x
FIGURE 11.6.1 Approximation of f (x) by Sn (x).
with Rn than with In . The quantity Rn is called the mean square error of the approximation Sn to f . If a1 , . . . , an are chosen so as to minimize Rn , then Sn is said to approximate f in the mean square sense. To choose a1 , . . . , an so as to minimize Rn we must satisfy the necessary conditions ∂ Rn /∂ai = 0,
i = 1, . . . , n.
(7)
Writing out Eq. (7), and noting that ∂ Sn (x; a1 , . . . , an )/∂ai is equal to φi (x), we obtain 1 ∂R − n =2 r (x)[ f (x) − Sn (x)]φi (x) dx = 0. (8) ∂ai 0 Substituting for Sn (x) from Eq. (2) and making use of the orthogonality relation (1) lead to 1 ai = r (x) f (x)φi (x) dx, i = 1, . . . , n. (9) 0
The coefficients defined by Eq. (9) are called the Fourier coefficients of f with respect to the orthonormal set φ1 , φ2 , . . . , φn and the weight function r . Since the conditions (7) are only necessary and not sufficient for Rn to be a minimum, a separate argument is required to show that Rn is actually minimized if the ai are chosen by Eq. (9). This argument is outlined in Problem 5. Note that the coefficients (9) are the same as those in the eigenfunction series whose convergence, under certain conditions, was stated in Theorem 11.2.4. Thus, Sn (x) is the nth partial sum in this series, and constitutes the best mean square approximation to f (x) that is possible with the functions φ1 , . . . , φn . We will assume hereafter that the coefficients ai in Sn (x) are given by Eq. (9). Equation (9) is noteworthy in two other important respects. In the first place, it gives a formula for each ai separately, rather than a set of linear algebraic equations for a1 , . . . , an as in the method of collocation, for example. This is due to the orthogonality of the base functions φ1 , . . . , φn . Further, the formula for ai is independent of n, the number of terms in Sn (x). The practical significance of this is as follows. Suppose that, to obtain a better approximation to f , we desire to use an approximation with more terms, say, k terms, where k > n. It is then unnecessary to recompute the first n coefficients in Sk (x). All that is required is to compute from Eq. (9) the coefficients an+1 , . . . , ak arising from the additional base functions φn+1 , . . . , φk . Of course, if
672
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
f , r , and the φn are complicated functions, it may be necessary to evaluate the integrals numerically. Now let us suppose that there is an infinite sequence of functions φ1 , . . . , φn , . . . , which are continuous and orthonormal on the interval 0 ≤ x ≤ 1. Suppose further that, as n increases without bound, the mean square error Rn approaches zero. In this event the infinite series ∞
ai φi (x) i=1
is said to converge in the mean square sense (or, more simply, in the mean) to f (x). Mean convergence is an essentially different type of convergence than the pointwise convergence considered up to now. A series may converge in the mean without converging at each point. This is plausible geometrically because the area between two curves, which behaves in the same way as the mean square error, may be zero even though the functions are not the same at every point. They may differ on any finite set of points, for example, without affecting the mean square error. It is less obvious, but also true, that even if an infinite series converges at every point, it may not converge in the mean. Indeed, the mean square error may even become unbounded. An example of this phenomenon is given in Problem 4. Now suppose that we wish to know what class of functions, defined on 0 ≤ x ≤ 1, can be represented as an infinite series of the orthonormal set φi , i = 1, 2, . . . . The answer depends on what kind of convergence we require. We say that the set φ1 , . . . , φn , . . . is complete with respect to mean square convergence for a set of functions F, if for each function f in F, the series f (x) =
∞
ai φi (x),
(10)
i=1
with coefficients given by Eq. (9), converges in the mean. There is a similar definition for completeness with respect to pointwise convergence. Theorems having to do with the convergence of series such as that in Eq. (10) can now be restated in terms of the idea of completeness. For example, Theorem 11.2.4 can be restated as follows: The eigenfunctions of the Sturm–Liouville problem − [ p(x)y ] + q(x)y = λr (x)y,
a1 y(0) + a2 y (0) = 0,
0 < x < 1,
b1 y(1) + b2 y (1) = 0
(11) (12)
are complete with respect to ordinary pointwise convergence for the set of functions that are continuous on 0 ≤ x ≤ 1, and have a piecewise continuous derivative there. If pointwise convergence is replaced by mean convergence, Theorem 11.2.4 can be considerably generalized. Before we state such a companion theorem to Theorem 11.2.4, we first define what is meant by a square integrable function. A function f is said to be square integrable on the interval 0 ≤ x ≤ 1 if both f and f 2 are integrable11 on 11 For the Riemann integral used in elementary calculus the hypotheses that f and f 2 are integrable are independent; that is, there are functions such that f is integrable but f 2 is not, and conversely (see Problem 6). A generalized integral, known as the Lebesgue integral, has the property (among others) that if f 2 is integrable, then f is also necessarily integrable. The term square integrable came into common use in connection with this type of integration.
11.6
673
Series of Orthogonal Functions: Mean Convergence
that interval. The following theorem is similar to Theorem 11.2.4 except that it involves mean convergence.
Theorem 11.6.1
The eigenfunctions φi of the Sturm–Liouville problem (11), (12) are complete with respect to mean convergence for the set of functions that are square integrable on 0 ≤ x ≤ 1. In other words, given any square integrable function f , the series (10), whose coefficients are given by Eq. (9), converges to f (x) in the mean square sense. It is significant that the class of functions specified in Theorem 11.6.1 is very large indeed. The class of square integrable functions contains some functions with many discontinuities, including some kinds of infinite discontinuities, as well as some functions that are not differentiable at any point. All these functions have mean convergent expansions in the eigenfunctions of the boundary value problem (11), (12). However, in many cases these series do not converge pointwise, at least not at every point. Thus mean convergence is more naturally associated with series of orthogonal functions, such as eigenfunctions, than ordinary pointwise convergence. The theory of Fourier series discussed in Chapter 10 is just a special case of the general theory of Sturm–Liouville problems. For instance, the functions √ (13) φn (x) = 2 sin nπ x are the normalized eigenfunctions of the Sturm–Liouville problem y + λy = 0,
y(0) = 0,
y(1) = 0.
(14)
Thus, if f is a given square integrable function on 0 ≤ x ≤ 1, then according to Theorem 11.6.1, the series f (x) =
∞
bm φm (x) =
∞ √ 2 bm sin mπ x,
m=1
where
bm =
0
1
(15)
m=1
√ f (x)φm (x) dx = 2
1
f (x) sin mπ x dx,
(16)
0
converges in the mean. The series (15) is precisely the Fourier sine series discussed in Section 10.4. If f satisfies the further conditions stated in Theorem 11.2.4, then this series converges pointwise as well as in the mean. Similarly, a Fourier cosine series is associated with the Sturm–Liouville problem y + λy = 0,
EXAMPLE
1
y (0) = 0,
y (1) = 0.
(17)
Let f (x) = 1 for 0 < x < 1. Expand f (x) using the eigenfunctions (13) and discuss the pointwise and mean square convergence of the resulting series. The series has the form (15) and its coefficients bm are given by Eq. (16). Thus √ √ 1 2 (1 − cos mπ) (18) sin mπ x dx = bm = 2 mπ 0
674
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
and the nth partial sum of the series is n
1 − cos mπ Sn (x) = 2 sin mπ x. mπ m=1 The mean square error is then
Rn =
0
1
(19)
[ f (x) − Sn (x)]2 dx.
(20)
By calculating Rn for several values of n and plotting the results, we obtain Figure 11.6.2. This figure indicates that Rn steadily decreases as n increases. Of course, Theorem 11.6.1 asserts that Rn → 0 as n → ∞. Pointwise, we know that Sn (x) → f (x) = 1 as n → ∞; further, Sn (x) has the value zero for x = 0 or x = 1 for every n. Although the series converges pointwise for each value of x, the least upper bound of the error does not diminish as n increases. For each n there are points close to x = 0 and x = 1 where the error is arbitrarily close to 1. Rn 0.20 0.18 0.16 0.14 0.12 0.10 0.08 0.06 0.04 0.02 0
2
4
6
8
10
12
14
16 n
FIGURE 11.6.2 Dependence of the mean square error Rn on n in Example 1.
Theorem 11.6.1 can be extended to cover self-adjoint boundary value problems having periodic boundary conditions, such as the problem y + λy = 0, y(−L) − y(L) = 0,
y (−L) − y (L) = 0
(21) (22)
considered in Example 4 of Section 11.2. The eigenfunctions of the problem (21), (22) are φn (x) = cos(nπ x/L) for n = 0, 1, 2, . . . and ψn (x) = sin(nπ x/L) for n = 1, 2, . . . . If f is a given square integrable function on −L ≤ x ≤ L, then its expansion in terms of the eigenfunctions φn and ψn is of the form ∞
a nπ x nπ x
, (23) an cos + bn sin f (x) = 0 + 2 L L n=1
11.6
675
Series of Orthogonal Functions: Mean Convergence
where 1 L nπ x f (x) cos dx, L −L L 1 L nπ x f (x) sin dx, bn = L −L L
an =
n = 0, 1, 2, . . . ,
(24)
n = 1, 2, . . . .
(25)
This expansion is exactly the Fourier series for f discussed in Sections 10.2 and 10.3. According to the generalization of Theorem 11.6.1, the series (23) converges in the mean for any square integrable function f , even though f may not satisfy the conditions of Theorem 10.3.1, which assure pointwise convergence.
PROBLEMS 䉴 1. Extend the results of Example 1 by finding the smallest value of n for which Rn < 0.02, where Rn is given by Eq. (20). √ 䉴 2. Let f (x) = x for 0 < x < 1 and let φm (x) = 2 sin mπ x. (a) Find the coefficients bm in the expansion of f (x) in terms of φ1 (x), φ2 (x), . . . . (b) Calculate the mean square error Rn for several values of n and plot the results. (c) Find the smallest value of n for which Rn < 0.01. 䉴 3. Follow the instructions for Problem 2 using f (x) = x(1 − x) for 0 < x < 1. 4. In this problem we show that pointwise convergence of a sequence Sn (x) does not imply mean convergence, and conversely. √ 2 (a) Let Sn (x) = n xe−nx /2 , 0 ≤ x ≤ 1. Show that Sn (x) → 0 as n → ∞ for each x in 0 ≤ x ≤ 1. Show also that 1 n [0 − Sn (x)]2 d x = (1 − e−n ), Rn = 2 0 and hence that Rn → ∞ as n → ∞. Thus pointwise convergence does not imply mean convergence. (b) Let Sn (x) = x n for 0 ≤ x ≤ 1 and let f (x) = 0 for 0 ≤ x ≤ 1. Show that Rn =
1 0
[ f (x) − Sn (x)]2 d x =
1 , 2n + 1
and hence Sn (x) converges to f (x) in the mean. Also show that Sn (x) does not converge to f (x) pointwise throughout 0 ≤ x ≤ 1. Thus mean convergence does not imply pointwise convergence. 5. Suppose that the functions φ1 , . . . , φn satisfy the orthonormality relation (1), and that a given function f is to be approximated by Sn (x) = c1 φ1 (x) + · · · + cn φn (x), where the coefficients ci are not necessarily those of Eq. (9). Show that the mean square error Rn given by Eq. (6) may be written in the form Rn =
0
1
r (x) f 2 (x) d x −
n
i=1
ai2 +
n
(ci − ai )2 ,
i=1
where the ai are the Fourier coefficients given by Eq. (9). Show that Rn is minimized if ci = ai for each i. 6. In this problem we show by examples that the (Riemann) integrability of f and f 2 are independent.
676
Chapter 11. Boundary Value Problems and Sturm–Liouville Theory
(a) Let f (x) =
1
x −1/2 , 0,
0 < x ≤ 1, x = 0.
f (x) d x exists as an improper integral, but 0 1, x rational, (b) Let f (x) = −1, x irrational.
Show that
1
1 0
f 2 (x) d x does not.
1
Show that f 2 (x) d x exists, but f (x) d x does not. 0 0 7. Suppose that it is desired to construct a set of polynomials f 0 (x), f 1 (x), f 2 (x), . . . , f k (x), . . . , where f k (x) is of degree k, that are orthonormal on the interval 0 ≤ x ≤ 1. That is, the set of polynomials must satisfy 1 f j (x) f k (x) d x = δ jk . ( f j , fk ) = 0
(a) Find f 0 (x) by choosing the polynomial of degree zero such that ( f 0 , f 0 ) = 1. (b) Find f 1 (x) by determining the polynomial of degree one such that ( f 0 , f 1 ) = 0 and ( f 1 , f 1 ) = 1. (c) Find f 2 (x). (d) The normalization condition ( f k , f k ) = 1 is somewhat awkward to apply. Let g0 (x), g1 (x), . . . , gk (x), . . . be the sequence of polynomials that are orthogonal on 0 ≤ x ≤ 1 and that are normalized by the condition gk (1) = 1. Find g0 (x), g1 (x), and g2 (x) and compare them with f 0 (x), f 1 (x), and f 2 (x). 8. Suppose that it is desired to construct a set of polynomials P0 (x), P1 (x), . . . , Pk (x), . . . , where Pk (x) is of degree k, that are orthogonal on the interval −1 ≤ x ≤ 1; see Problem 7. Suppose further that Pk (x) is normalized by the condition Pk (1) = 1. Find P0 (x), P1 (x), P2 (x), and P3 (x). Note that these are the first four Legendre polynomials (see Problem 24 of Section 5.3). 9. This problem develops some further results associated with mean convergence. Let Rn (a1 , . . . , an ), Sn (x), and ai be defined by Eqs. (6), (2), and (9), respectively. (a) Show that 1 n
r (x) f 2 (x) d x − ai2 . Rn = 0
i=1
Hint: Substitute for Sn (x) in Eq. (6) and integrate, using the orthogonality relation (1). 1 n (b) Show that ai2 ≤ r (x) f 2 (x) d x. This result is known as Bessel’s inequality. i=1 ∞
0
ai2
converges. 1 ∞
(d) Show that lim Rn = r (x) f 2 (x) d x − ai2 . (c) Show that
i=1
n→∞
(e) Show that
∞ i=1
0
i=1
ai φi (x) converges to f (x) in the mean if and only if 1 ∞
r (x) f 2 (x) d x = ai2 . 0
i=1
This result is known as Parseval’s equation. In Problems 10 through 12 let φ1 , φ2 , . . . , φn , . . . be the normalized eigenfunctions of the Sturm–Liouville problem (11), (12). 10. Show that if an is the nth Fourier coefficient of a square integrable function f , then lim an = 0. n→∞
Hint: Use Bessel’s inequality, Problem 9(b).
11.6
Series of Orthogonal Functions: Mean Convergence
677
11. Show that the series φ1 (x) + φ2 (x) + · · · + φn (x) + · · · cannot be the eigenfunction series for any square integrable function. Hint: See Problem 10. 12. Show that the series φn (x) φ2 (x) + ··· + √ φ1 (x) + √ + ··· n 2 is not the eigenfunction series for any square integrable function. Hint: Use Bessel’s inequality, Problem 9(b). 13. Show that Parseval’s equation in Problem 9(e) is obtained formally by squaring the series (10) corresponding to f , multiplying by the weight function r , and integrating term by term.
REFERENCES
The following books were mentioned in the text in connection with certain theorems about Sturm–Liouville problems:
Birkhoff, G., and Rota, G.-C., Ordinary Differential Equations (4th ed.) (New York: Wiley, 1989). Sagan, H., Boundary and Eigenvalue Problems in Mathematical Physics (New York: Wiley, 1961; New York: Dover, 1989). Weinberger, H., A First Course in Partial Differential Equations (New York: Wiley, 1965; New York: Dover, 1995). Yosida, K., Lectures on Differential and Integral Equations (New York: Wiley-Interscience, 1960). The following books are convenient sources of numerical and graphical data about Bessel and Legendre functions:
Abramowitz, M., and Stegun, I. A. (eds.), Handbook of Mathematical Functions (New York: Dover, 1965); originally published by the National Bureau of Standards, Washington, DC, 1964. Jahnke, E., and Emde, F., Tables of Functions with Formulae and Curves (Leipzig: Teubner, 1938; New York: Dover, 1945). The following books also contain much information about Sturm–Liouville problems:
Cole, R. H., Theory of Ordinary Differential Equations (New York: Irvington, 1968). Hochstadt, H., Differential Equations: A Modern Approach (New York: Holt, 1964; New York: Dover, 1975). Miller, R. K., and Michel, A. N., Ordinary Differential Equations (New York: Academic Press, 1982). Tricomi, F. G., Differential Equations (New York: Hafner, 1961).
Answers to Problems
C H A P T E R
See SSM for detailed solutions to 2, 4, 7, 11, 13, 15ab.
1
Section 1.1, page 8 1. 3. 5. 7. 9. 11. 12. 13. 14.
16, 21, 22
15. 16. 17. 18. 19. 21. 22. 23.
y → 3/2 as t → ∞ 2. y diverges from 3/2 as t → ∞ y diverges from −3/2 as t → ∞ 4. y → −1/2 as t → ∞ y diverges from −1/2 as t → ∞ 6. y diverges from −2 as t → ∞ y = 3 − y 8. y = 2 − 3y y = y−2 10. y = 3y − 1 y = 0 and y = 4 are equilibrium solutions; y → 4 if initial value is positive; y diverges from 0 if initial value is negative. y = 0 and y = 5 are equilibrium solutions; y diverges from 5 if initial value is greater than 5; y → 0 if initial value is less than 5. y = 0 is equilibrium solution; y → 0 if initial value is negative; y diverges from 0 if initial value is positive. y = 0 and y = 2 are equilibrium solutions; y diverges from 0 if initial value is negative; y → 2 if initial value is between 0 and 2; y diverges from 2 if initial value is greater than 2. (a) dq/dt = 300(10−2 − q10−6 ) (b) q → 104 g; no d V /dt = −kV 2/3 for some k > 0. (a) dq/dt = 500 − 0.4q (b) q √ → 1250 mg (a) mv = mg − kv 2 (b) v → mg/k (c) k = 2/49 y is asymptotic to t − 3 as t → ∞ 20. y → 0 as t → ∞ y → ∞, 0, or −∞ depending on the initial value of y y → ∞ or −∞ depending on the initial value of y y → ∞ or −∞ or y oscillates depending on the initial value of y
679
680
Answers to Problems
√ 24. y → −∞ or is asymptotic to 2t − 1 depending on the initial value of y 25. y → 0 and then fails to exist after some t f ≥ 0 26. y → ∞ or −∞ depending on the initial value of y
See SSM for detailed solution for 24.
Section 1.2, page 14 1. (a) y = 5 + (y0 − 5)e−t (b) y = (5/2) + [y0 − (5/2)]e−2t −2t (c) y = 5 + (y0 − 5)e Equilibrium solution is y = 5 in (a) and (c), y = 5/2 in (b); solution approaches equilibrium faster in (b) and (c) than in (a). (b) y = (5/2) + [y0 − (5/2)]e2t 2. (a) y = 5 + (y0 − 5)et 2t (c) y = 5 + (y0 − 5)e Equilibrium solution is y = 5 in (a) and (c), y = 5/2 in (b); solution diverges from equilibrium faster in (b) and (c) than in (a). 3. (a) y = ce−at + (b/a) (c) (i) Equilibrium is lower and is approached more rapidly. (ii) Equilibrium is higher. (iii) Equilibrium remains the same and is approached more rapidly. (b) y = ceat + (b/a) 4. (a) y1 (t) = ceat −at 5. y = ce + (b/a) 6. (a) T = 2 ln 18 ∼ (b) T = 2 ln[900/(900 − p0 )] months = 5.78 months (c) p0 = 900(1 − e−6 ) ∼ = 897.8 (b) r = (ln 2)/N day−1 7. (a) r = (ln 2)/30 day−1 8. (a) T = 5 ln 50 ∼ (b) 718.34√m = 19.56 sec 9. (a) dv/dt = 9.8, v(0) = 0 (b) T = 300/4.9 ∼ = 7.82 sec (c) v ∼ = 76.68 m/sec (b) Q(t) = 100e−0.02828t (c) T ∼ 10. (a) r ∼ = 24.5 days = 0.02828 day−1 12. 1620 ln(4/3)/ ln 2 ∼ 672.4 years = (b) Q(t) → C V = Q L 13. (a) Q(t) = C V (1 − e−t/RC ) (c) Q(t) = C V exp[−(t − t1 )/RC] 14. (a) Q = 3(1 − 10−4 Q), Q(0) = 0 4 (b) Q(t) = 104 (1 − e−3t/10 ), t in hrs; after 1 year Q ∼ = 9277.77 g (c) Q = −3Q/104 , Q(0) = 9277.77 4 (d) Q(t) = 9277.77e−3t/10 , t in hrs; after 1 year Q ∼ = 670.07 g (e) T ∼ = 2.60 years (b) q(t) = 5000e−t/300 (c) no 15. (a) q = −q/300, q(0) = 5000 g (d) T = 300 ln(25/6) ∼ = 7.136 hr (e) r = 250 ln(25/6) ∼ = 256.78 gal/min
1b
4ab, 6b, 8ab,10a, 13abc
Section 1.3, page 22
2, 6, 8, 14, 16, 19
1. 3. 5. 15. 17. 19. 21. 23.
22, 26 C H A P T E R
1, 2, 3
2
Second order, linear Fourth order, linear Second order, nonlinear r = −2 r = 2, −3 r = −1, −2 Second order, linear Fourth order, linear
2. 4. 6. 16. 18. 20. 22. 24.
Second order, nonlinear First order, nonlinear Third order, linear r = ±1 r = 0, 1, 2 r = 1, 4 Second order, nonlinear Second order, nonlinear
Section 2.1, page 38 1. (c) y = ce−3t + (t/3) − (1/9) + e−2t ; y is asymptotic to t/3 − 1/9 as t → ∞ 2. (c) y = ce2t + t 3 e2t /3; y → ∞ as t → ∞ 3. (c) y = ce−t + 1 + t 2 e−t /2; y → 1 as t → ∞
681
Answers to Problems
See SSM for detailed solutions to 4, 6, 7, 11, 13, 15, 18, 20.
21b, 24bc, 28
4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 15. 17. 19. 21. 22. 23. 24. 25. 27.
30, 32, 35, 36, 37
28. 29. 36. 37.
(c) y = (c/t) + (3 cos 2t)/4t + (3 sin 2t)/2; y is asymptotic to (3 sin 2t)/2 as t → ∞ (c) y = ce2t − 3et ; y → ∞ or −∞ as t → ∞ (c) y = (c − t cos t + sin t)/t 2 ; y → 0 as t → ∞ 2 2 (c) y = t 2 e−t + ce−t ; y → 0 as t → ∞ (c) y = (arctan t + c)/(1 + t 2 )2 ; y → 0 as t → ∞ (c) y = ce−t/2 + 3t − 6; y is asymptotic to 3t − 6 as t → ∞ (c) y = −te−t + ct; y → ∞, 0, or −∞ as t → ∞ (c) y = ce−t + sin 2t − 2 cos 2t; y is asymptotic to sin 2t − 2 cos 2t as t → ∞ (c) y = ce−t/2 + 3t 2 − 12t + 24; y is asymptotic to 3t 2 − 12t + 24 as t → ∞ y = 3et + 2(t − 1)e2t 14. y = (t 2 − 1)e−2t /2 4 3 2 2 y = (3t − 4t + 6t + 1)/12t 16. y = (sin t)/t 2 y = (t + 2)e2t 18. y = t −2 [(π 2 /4) − 1 − t cos t + sin t] −t 4 t = 0 20. y = (t − 1 + 2e−t )/t, t = 0 y = −(1 + t)e /t , 4 8 4 t/2 (b) y = − 5 cos t + 5 sin t + (a + 5 )e ; a0 = − 45 (c) y oscillates for a = a0 (b) y = −3et/3 + (a + 3)et/2 ; a0 = −3 (c) y → −∞ for a = a0 (b) y = te−t + (ea − 1)e−t /t; a0 = 1/e (c) y → 0 as t → 0 for a = a0 (b) y = − cos t/t 2 + π 2 a/4t 2 ; a0 = 4/π 2 (c) y → 12 as t → 0 for a = a0 (t, y) = (1.364312, 0.820082) 26. y0 = −1.642876 8 cos 2t + 64 sin 2t − 788 e−t/4 ; y oscillates about 12 as t → ∞ (a) y = 12 + 65 65 65 (b) t = 10.065778 y0 = −5/2 y0 = −16/3; y → −∞ as t → ∞ for y0 = −16/3 See Problem 2. See Problem 4.
Section 2.2, page 45
1, 4
1. 2. 3. 4. 5.
6, 10ac, 13, 15, 17a
6. 7. 8. 9. 11. 13. 15. 17.
17c, 19ac 19.
3y 2 − 2x 3 = c; y = 0 3y 2 − 2 ln |1 + x 3 | = c; x = −1, y = 0 y −1 + cos x = c if y = 0; also y = 0; everywhere 3y + y 2 − x 3 + x = c; y = −3/2 2 tan 2y − 2x − sin 2x = c if cos 2y = 0; also y = ±(2n + 1)π/4 for any integer n; everywhere y = sin[ln |x| + c] if x = 0 and |y| < 1; also y = ±1 y 2 − x 2 + 2(e y − e−x ) = c; y + e y = 0 3y + y 3 − x 3 = c; everywhere (a) y = 1/(x 2 − x − 6) 10. (a) y = − 2x − 2x 2 + 4 (c) −2 < x < 3 (c) −1 < x < 2 12. (a) r = 2/(1 √ − 2 ln θ ) (a) y = [2(1 − x)e x − 1]1/2 (c) −1.68 < x < 0.77 approximately (c) 0 < θ < e 2 −1/2 (a) y = −[2 ln(1 + x 2 ) + 4]1/2 1 + x 14. (a) y = 3 − 2 √ (c) −∞ < x < ∞ (c) |x| < 12 5 (a) y = − 12 + 12 4x 2 − 15 16. (a) y = − (x 2 + 1)/2 √ 1 (c) −∞ < x < ∞ (c) x > 2 15 3 x 18. (a) y = − 34 + 14 65 − 8e x − 8e−x (a) y = 5/2 − x − e + 13/4 (c) |x| < 2.0794 approximately (c) −1.4445 < x < 4.6297 approximately 1/3 (a) y = [π − arcsin(3 cos2 x)]/3 20. (a) y = 32 (arcsin x)2 (c) −1 < x < 1 (c) |x − π/2| < 0.6155
682 See SSM for detailed solutions to 21, 23.
25, 27ab
Answers to Problems
21. 22. 23. 24. 25. 26. 27. 28.
29, 30bd, 31, 33
35b
29. 30. 31. 32. 33. 34. 35. 36. 37. 38.
y 3 − 3y 2 − x − x 3 + 2 = 0, |x| < 1 √ y 3 − 4y − x 3 = −1, |x 3 − 1| < 16/3 3 or −1.28 < x < 1.60 y = −1/(x 2 /2 + 2x − 1); x = −2 y = −3/2 + √2x − e x + 13/4; x = ln 2 y = −3/2 + sin 2x + 1/4; x = π/4 y = tan(x 2 + 2x); x = −1 (a) y → 4 if y0 > 0; y = 0 if y0 = 0; y → −∞ if y0 < 0 (b) T = 3.29527 (a) y → 4 as t → ∞ (b) T = 2.84367 (c) 3.6622 < y0 < 4.4042 c ad − bc x = y+ ln |ay + b| + k; a = 0, ay + b = 0 a a2 (e) |y + 2x|3 |y − 2x| = c (b) arctan(y/x) − ln |x| = c (b) x 2 + y 2 − cx 3 = 0 (b) |y − x| = c|y + 3x|5 ; also y = −3x (b) |y + x| |y + 4x|2 = c (b) 2x/(x + y) + ln |x + y| = c; also y = −x (b) x/(x + y) + ln |x| = c; also y = −x (b) |x|3 |x 2 − 5y 2 | = c (b) c|x|3 = |y 2 − x 2 |
Section 2.3, page 57
1, 2, 3 4, 7abc, 9, 10, 12a, 16a
1. 2. 3. 4.
t = 100 ln 100 min ∼ = 460.5 min Q(t) = 120γ [1 − exp(−t/60)]; 120γ Q = 50e−0.2 (1 − e−0.2 ) lb ∼ = 7.42 lb Q(t) = 200 + t − [100(200)2 /(200 + t)2 ] lb, t < 300; lim c = 1 lb/gal t→∞
5. (a) Q(t) = 6. 7. 8.
9. 10. 11. 12. 13. 14. 15. 16.
18
17. 18.
63,150 −t/50 e 2501
c = 121/125 lb/gal;
625 25 + 25 − 2501 cos t + 5002 sin t √ (c) level = 25; amplitude = 25 2501/5002 ∼ = 0.24995 (a) (ln 2)/r years (b) 9.90 years (c) 8.66% (a) k(er t − 1)/r (b) k ∼ (c) 9.77% = $3930 (a) A: $337,733.85; B: $250,579.41 (b) A: 2000e30r (e10r − 1)/r ; B: 2000(e30r − 1)/r (d) r ∼ = 0.0609 k = $3086.64/year; $1259.92 (a) $89,034.79 (b) $102,965.21 (a) $99,498.08 (b) $188,501.92 (a) t ∼ = 135.36 months (b) $152,698.56 (a) (k/r ) + [S0 − (k/r )]er t (b) r S0 (c) (1/r ) ln[k/(k − k0 )] years ∼ 8.66 years (d) T = (e) r S0 er T /(er T − 1) (f) $119,716 (b) Q 0 exp(−0.00012097t), t in years (a) 0.00012097 year−1 (c) 13,305 years P = 201,977.31 − 1977.31e(ln 2)t , 0 ≤ t ≤ t f ∼ = 6.6745 (weeks) (a) τ ∼ = 2.9632; no (b) τ = 10 ln 2 ∼ = 6.9315 (c) τ = 6.3805 (b) yc ∼ = 0.83 t = ln 13 / ln 13 min ∼ = 6.07 min 8 12
683
Answers to Problems
See SSM for detailed solutions to 19, 20ab, 21ab, 22, 24ab
24cd, 26ab, 27ab, 28
29b, 30, 31bdef
19. (a) x = 0.04[1 − exp(−t/12,000)] (b) τ ∼ = 36 min −r t/V − k − (P/r )]e ; lim c = k + (P/r ) 0 t→∞ (b) T = (V ln 2)/r ; T = (V ln 10)/r (c) Superior, T = 431 years; Michigan, T = 71.4 years; Erie, T = 6.05 years; Ontario, T = 17.6 years 21. (a) 50.408 m (b) 5.248 sec 22. (a) 45.783 m (b) 5.129 sec 23. (a) 48.562 m (b) 5.194 sec 24. (a) 176.7 ft/sec (b) 1074.5 ft (c) 15 ft/sec (d) 256.6 sec kv0 mv0 kv0 m2 g m 25. (a) xm = − 2 ln 1 + + ; tm = ln 1 + mg k k mg k 26. (a) v = −(mg/k) + [v0 + (mg/k)] exp(−kt/m) (b) v = v0 − gt; yes (c) v = 0 for t > 0 27. (a) v L = 2a 2 g(ρ − ρ )/9µ (b) e = 4πa 3 g(ρ − ρ )/3E 28. (a) 11.58 m (b) 13.45 m (c) k ≥ 0.2394 kg/sec √/sec 29. (a) v = R 2g/(R + x) (b) 50.6 hr 2g R 1/2 30. ve = ; altitude ∼ = 1536 miles 1+ξ 2 31. (b) x = ut cos A, y = −gt /2 + ut sin A + h (d) −16L 2 /(u 2 cos2 A) + L tan A + 3 ≥ H (e) 0.63 rad ≤ A ≤ 0.96 rad (f) u = 106.89 ft/sec, A = 0.7954 rad 32. (a) v = (u cos A)e−r t , w = −g/r + (u sin A + g/r )e−r t (b) x = u cos A(1 − e−r t )/r, y = −gt/r + (u sin A + g/r )(1 − e−r t )/r + h (d) u = 145.3 ft/sec, A = 0.644 rad 33. (d) k = 2.193 Section 2.4, page 72
1, 4, 8, 11, 13, 17
1. 3. 5. 7. 9. 10.
0
0 or 2t + 5y < 0 1 − t 2 + y 2 > 0 or 1 − t 2 + y 2 < 0, Everywhere
2. 0 < t < 4 4. −∞ < t < −2 6. 1 < t < π 8. t 2 + y 2 < 1 t = 0, y = 0 11. y = 0, y = 3
12. t = nπ for n = 0, ±1, ±2, . . . ; 13. y = ± y02 − 4t 2 if y0 = 0; y = −1 |t| < |y0 |/2 √ 14. y = [(1/y0 ) − t 2 ]−1 if y0 = 0; y = 0 if y0 = 0; interval is |t| < 1/ y0 if y0 > 0; −∞ < t < ∞ if y0 ≤ 0 15. y = y0 / 2t y02 + 1 if y0 = 0; y = 0 if y0 = 0; interval is −1/2y02 < t < ∞ if y0 = 0; −∞ < t < ∞ if y0 = 0 16. y = ± 32 ln(1 + t 3 ) + y02 ; −[1 − exp(−3y02 /2)]1/3 < t < ∞
y → 3 if y0 > 0; y = 0 if y0 = 0; y → −∞ if y0 < 0 y → −∞ if y0 < 0; y → 0 if y0 ≥ 0 19. y → 0 if y0 ≤ 9; y → ∞ if y0 > 9 √ y → −∞ if y0 < yc ≈ −0.019; otherwise y is asymptotic to t − 1 (a) No (b) Yes; set t0 = 1/2 in Eq. (19) in text. (c) |y| ≤ (4/3)3/2 ∼ = 1.5396 22. (a) y1 (t) is a solution for t ≥ 2; y2 (t) is a solution for all t (b) f y is not continuous at (2, −1)
17. 18. 20. 21.
22abc
684 See SSM for detailed solutions to 23a, 24, 25, 27ab 28, 29, 32
Answers to Problems
1 1 t µ(s)g(s) ds ; y2 (t) = µ(t) µ(t) t0 5 1/2 28. y = ±[5t/(2 + 5ct )] 29. y = r/(k + cr e−r t ) −2t 1/2 30. y = ±[/(σ + ce )] 1/2 t 31. y = ± µ(t) 2 µ(s) ds + c , where µ(t) = exp(2 sin t + 2T t) 26. (a) y1 (t) =
t0
32. y = 12 (1 − e−2t ) for 0 ≤ t ≤ 1; 33. y = e−2t for 0 ≤ t ≤ 1;
y = 12 (e2 − 1)e−2t for t > 1
y = e−(t+1) for t > 1
Section 2.5, page 84
3, 6, 7c, 9
11, 14, 16bc, 17a, 18abc
1. 2. 3. 4. 6. 7. 8. 9. 10. 11. 12. 13. 15. 16. 17. 18.
20bd, 21abd, 24abc, 26ab
20. 21. 22. 23. 24. 26.
y = 0 is unstable y = −a/b is asymptotically stable, y = 0 is unstable y = 1 is asymptotically stable, y = 0 and y = 2 are unstable y = 0 is unstable 5. y = 0 is asymptotically stable y = 0 is asymptotically stable (c) y = [y0 + (1 − y0 )kt]/[1 + (1 − y0 )kt] y = 1 is semistable y = −1 is asymptotically stable, y = 0 is semistable, y = 1 is unstable y = −1 and y = 1 are asymptotically stable, y = 0 is unstable y = 0 is asymptotically stable, y = b2 /a 2 is unstable y = 2 is asymptotically stable, y = 0 is semistable, y = −2 is unstable y = 0 and y = 1 are semistable (a) τ = (1/r ) ln 4; 55.452 years (b) T = (1/r ) ln[β(1 − α)/(1 − β)α]; 175.78 years (a) y = 0 is unstable, y = K is asymptotically stable (b) Concave up for 0 < y ≤ K /e, concave down for K /e ≤ y < K (a) y = K exp{[ln(y0 /K )]e−r t } (b) y(2) ∼ = 0.7153K ∼ = 57.6 × 106 kg (c) τ ∼ years = 2.215 √ 19. (b) k 2 /2g(αa)2 (b) (h/a) k/απ ; yes 2 (c) k/α ≤ πa (c) Y = E y2 = K E[1 − (E/r )] (d) Ym = K r/4 for E = r/2 √ (a) y1,2 = K [1 ∓ 1 − (4h/r K )]/2 (a) y = 0 is unstable, y = 1 is asymptotically stable (b) y = y0 /[y0 + (1 − y0 )e−αt ] (b) x = x0 exp[−αy0 (1 − e−βt )/β] (c) x0 exp(−αy0 /β) (a) y = y0 e−βt (b) z = 1/[ν + (1 − ν)eβt ] (c) 0.0927 pq[eα(q− p)t − 1] (a) lim x(t) = min( p, q); x(t) = t→∞ qeα(q− p)t − p 2 p αt (b) lim x(t) = p; x(t) = t→∞ pαt + 1
Section 2.6, page 95
3 5, 7, 9, 12, 14
15
1. 3. 5. 7. 9. 11. 13. 14. 15.
x 2 + 3x + y 2 − 2y = c x 3 − x 2 y + 2x + 2y 3 + 3y = c ax 2 + 2bx y + cy 2 = k e x sin y + 2y cos x = c; also y = 0 e x y cos 2x + x 2 − 3y = c Not exact √ y = x + 28 − 3x 2 /2, |x| < 28/3 y = [x − (24x 3 + x 2 − 8x − 16)1/2 ]/4, b = 3; x 2 y 2 + 2x 3 y = c
2. 4. 6. 8. 10. 12.
Not exact x 2 y 2 + 2x y = c Not exact Not exact y ln x + 3x 2 − 2y = c x 2 + y2 = c
x > 0.9846 16. b = 1;
e2x y + x 2 = c
Answers to Problems
17.
N (x, y) dy +
M(x, y) −
685 N x (x, y) dy d x
See SSM for detailed solutions to 19, 22, 23
19. x 2 + 2 ln |y| − y −2 = c; also y = 0 21. x y 2 − (y 2 −2y + 2)e y = c 24. µ(t) = exp R(t) dt, where t = x y
25, 26, 27, 29, 31
25. 27. 28. 29. 31.
20. e x sin y + 2y cos x = c 22. x 2 e x sin y = c
26. µ(x) = e−x ; y = ce x + 1 + e2x µ(x) = e3x ; (3x 2 y + y 3 )e3x = c µ(y) = y; x y + y cos y − sin y = c µ(y) = e2y /y; xe2y − ln |y| = c; also y = 0 30. µ(y) = y 2 ; x 4 + 3x y + y 4 = c µ(y) = sin y; e x sin y + y 2 = c 3 2 3 µ(x, y) = x y; x y + 3x + y = c
Section 2.7, page 103
1d, 3a
3bcd, 4d, 6, 9
13a, 15ac, 16
1. (a) 1.2, 1.39, 1.571, 1.7439 (b) 1.1975, 1.38549, 1.56491, 1.73658 (c) 1.19631, 1.38335, 1.56200, 1.73308 (d) 1.19516, 1.38127, 1.55918, 1.72968 2. (a) 1.1, 1.22, 1.364, 1.5368 (b) 1.105, 1.23205, 1.38578, 1.57179 (c) 1.10775, 1.23873, 1.39793, 1.59144 (d) 1.1107, 1.24591, 1.41106, 1.61277 3. (a) 1.25, 1.54, 1.878, 2.2736 (b) 1.26, 1.5641, 1.92156, 2.34359 (c) 1.26551, 1.57746, 1.94586, 2.38287 (d) 1.2714, 1.59182, 1.97212, 2.42554 4. (a) 0.3, 0.538501, 0.724821, 0.866458 (b) 0.284813, 0.513339, 0.693451, 0.831571 (c) 0.277920, 0.501813, 0.678949, 0.815302 (d) 0.271428, 0.490897, 0.665142, 0.799729 5. Converge for y ≥ 0; undefined for y < 0 6. Converge for y ≥ 0; diverge for y < 0 7. Converge 8. Converge for |y(0)| < 2.37 (approximately); diverge otherwise 9. Diverge 10. Diverge 11. (a) 2.30800, 2.49006, 2.60023, 2.66773, 2.70939, 2.73521 (b) 2.30167, 2.48263, 2.59352, 2.66227, 2.70519, 2.73209 (c) 2.29864, 2.47903, 2.59024, 2.65958, 2.70310, 2.73053 (d) 2.29686, 2.47691, 2.58830, 2.65798, 2.70185, 2.72959 12. (a) 1.70308, 3.06605, 2.44030, 1.77204, 1.37348, 1.11925 (b) 1.79548, 3.06051, 2.43292, 1.77807, 1.37795, 1.12191 (c) 1.84579, 3.05769, 2.42905, 1.78074, 1.38017, 1.12328 (d) 1.87734, 3.05607, 2.42672, 1.78224, 1.38150, 1.12411 13. (a) −1.48849, −0.412339, 1.04687, 1.43176, 1.54438, 1.51971 (b) −1.46909, −0.287883, 1.05351, 1.42003, 1.53000, 1.50549 (c) −1.45865, −0.217545, 1.05715, 1.41486, 1.52334, 1.49879 (d) −1.45212, −0.173376, 1.05941, 1.41197, 1.51949, 1.49490 14. (a) 0.950517, 0.687550, 0.369188, 0.145990, 0.0421429, 0.00872877 (b) 0.938298, 0.672145, 0.362640, 0.147659, 0.0454100, 0.0104931 (c) 0.932253, 0.664778, 0.359567, 0.148416, 0.0469514, 0.0113722 (d) 0.928649, 0.660463, 0.357783, 0.148848, 0.0478492, 0.0118978 15. (a) −0.166134, −0.410872, −0.804660, 4.15867 (b) −0.174652, −0.434238, −0.889140, −3.09810 16. A reasonable estimate for y at t = 0.8 is between 5.5 and 6. No reliable estimate is possible at t = 1 from the specified data.
686 See SSM for detailed solutions to 18, 22.
Answers to Problems
17. A reasonable estimate for y at t = 2.5 is between 18 and 19. No reliable estimate is possible at t = 3 from the specified data. 19. (b) 0.67 < α0 < 0.68 18. (b) 2.37 < α0 < 2.38 Section 2.8, page 113
1, 4a
4c, 7
1. dw/ds = (s + 1)2 + (w + 2)2 , w(0) = 0 2. dw/ds = 1 − (w + 3)3 , w(0) = 0 n 2k t k (c) lim φn (t) = e2t − 1 3. (a) φn (t) = n→∞ k! k=1 n (−1)k t k (c) lim φn (t) = e−t − 1 4. (a) φn (t) = n→∞ k! k=1 n 5. (a) φn (t) = (−1)k+1 t k+1 /(k + 1)!2k−1 k=1
(c) lim φn (t) = 4e−t/2 + 2t − 4 n→∞
n t 2k−1 t n+1 7. (a) φn (t) = (n + 1)! 1 · 3 · 5 · · · (2k − 1) k=1 (c) lim φn (t) = t n→∞ n t 3k−1 (a) φn (t) = − 2 · 5 · 8 · · · (3k − 1) k=1 t3 t3 t3 t7 t7 2t 11 t 15 (a) φ1 (t) = ; φ2 (t) = + ; φ3 (t) = + + + 3 3 7·9 3 7 · 9 3 · 7 · 9 · 11 (7 · 9)2 · 15 t4 t4 3t 7 3t 10 t 13 (a) φ1 (t) = t; φ2 (t) = t − ; φ3 (t) = t − + − + 4 4 4 · 7 16 · 10 64 · 13 t2 t4 t6 7 (a) φ1 (t) = t, φ2 (t) = t − + − + O(t ), 2! 4! 6!
6. (a) φn (t) = t − 8. 9. 10.
11
11.
φ3 (t) = t −
t2 t3 t4 7t 5 14t 6 + + − + + O(t 7 ), 2! 3! 4! 5! 6!
t2 t3 7t 5 31t 6 + − + + O(t 7 ) 2! 3! 5! 6! t3 12. (a) φ1 (t) = −t − t 2 − , 2 t2 t3 t4 t5 t6 + O(t 7 ), φ2 (t) = −t − + + − − 2 6 4 5 24 t2 t4 3t 5 4t 6 φ3 (t) = −t − + − + + O(t 7 ), 2 12 20 45 t2 t4 7t 5 t6 φ4 (t) = −t − + − + + O(t 7 ) 2 8 60 15 φ4 (t) = t −
Section 2.9, page 124
2, 5
1. yn = (−1)n (0.9)n y0 ; yn → 0 as n → ∞ 2. yn = y0 /(n + 1); yn → 0 as n → ∞ √ 3. yn = y0 (n + 2)(n + 1)/2; yn → ∞ as n → ∞ y0 , if n = 4k or n = 4k − 1; 4. yn = yn has no limit as n → ∞ −y0 , if n = 4k − 2 or n = 4k − 3; 5. yn = (0.5)n (y0 − 12) + 12; yn → 12 as n → ∞ 6. yn = (−1)n (0.5)n (y0 − 4) + 4; yn → 4 as n → ∞ 7. 7.25% 8. $2283.63 9. $258.14
687
Answers to Problems
See SSM for detailed solutions to 10, 13, 14, 17, 17a
10. (a) $804.62 (b) $877.57 (c) $1028.61 11. 30 years: $804.62/month; $289,663.20 total 20 years: $899.73/month; $215,935.20 total 12. $103,624.62 13. 9.73% 16. (b) u n → −∞ as n → ∞ 19. (a) 4.7263 (b) 1.223% (c) 3.5643 (e) 3.5699
17b, 18
Miscellaneous Problems, page 126 1. 3. 5. 7. 9. 11. 13. 15.
1-7
8 - 32
16. 17. 19. 21. 23. 25. 27. 29. 30. 31. 32. C H A P T E R
3, 5, 7, 10, 15
17, 19, 21
3
y = (c/x 2 ) + (x 3 /5) 2. arctan(y/x) − ln x 2 + y 2 = c x 2 + x y − 3y − y 3 = 0 4. x = ce y + ye y x 2 y + x y 2 + x =2c 6. y = x −1 (1 − e1−x ) 2 2 −y (x + y + 1)e =c 8. y = (4 + cos 2 − cos x)/x 2 2 2 x y+x+y =c 10. (y 2 /x 3 ) + (y/x 2 ) = c 3 y x /3 + x y + e = c 12. y = ce−x + e−x ln(1 + e x ) 2(y/x)1/2 − ln |x| = c; also y = 0 14. x 2 + 2x y + 2y 2 = 34 2 y = c/cosh (x/2) √ √ (2/ 3) arctan[(2y − x)/ 3x] − ln |x| = c 18. y = cx −2 − x y = ce3x − e2x 3y − 2x y 3 − 10x = 0 20. e x + e−y = c −y/x e + ln |x| = c 22. y 3 + 3y − x 3 + 3x = 2 2x 1 e d x + cx; also y = 0 24. sin2 x sin y = c = −x 2 y x x 2 /y + arctan(y/x) = c 26. x 2 + 2x 2 y − y 2 = c 2 1 sin x cos 2y − 2 sin x = c 28. 2x y + x y 3 − x 3 = c arcsin(y/x) − ln |x| = c; also y = x and y = −x x y 2 − ln |y| = 0 x + ln |x| + x −1 + y − 2 ln |y| = c; also y = 0 x 3 y 2 + x y 3 = −4
Section 3.1, page 136 1. 3. 5. 7. 8. 9. 10. 11. 12. 13.
y y y y y y y y y y y 14. y y 15. y
= c1 et + c2 e−3t 2. y = c1 e−t + c2 e−2t = c1 et/2 + c2 e−t/3 4. y = c1 et/2 + c2 et = c1 + c2 e−5t 6. y = c1 e3t/2 + c2 e−3t/2 √ √ = c1 exp[(9 + √ 3 5)t/2] + c2 exp[(9√− 3 5)t/2] = c1 exp[(1 + 3)t] + c2 exp[(1 − 3)t] = et ; y → ∞ as t → ∞ = 52 e−t − 12 e−3t ; y → 0 as t → ∞ = 12et/3 − 8et/2 ; y → −∞ as t → ∞ = −1 − e−3t√ ; y → −1 as t √ →∞ √ √ 1 1 (13 + 5 13) exp[(−5 + 13)t/2] + 26 (13 − 5 13) exp[(−5 − 13)t/2]; = 26 → 0 as √t → ∞ √ √ √ = (2/ 33) exp[(−1 + 33)t/4] − (2/ 33) exp[(−1 − 33)t/4]; → ∞ as t → ∞ 1 −9(t−1) 9 t−1 e + 10 e ; y → ∞ as t → ∞ = 10
16. y = − 12 e(t+2)/2 + 32 e−(t+2)/2 ; y → −∞ as t → ∞ 18. 2y + 5y + 2y = 0 17. y + y − 6y = 0 19. y = 14 et + e−t ; minimum is y = 1 at t = ln 2 20. y = −et + 3et/2 ; maximum is y = 21. α = −2
9 4
at t = ln(9/4), y = 0 at t = ln 9 22. β = −1
688 See SSM for detailed solutions to 24, 25a. 25c, 27, 28, 30, 34
39, 40, 43
Answers to Problems
23. y → 0 for α < 0; y becomes unbounded for α > 1 24. y → 0 for α < 1; there is no α for which all nonzero solutions become unbounded. 25. (a) y = 15 (1 + 2β)e−2t + 15 (4 − 2β)et/2 (b) y ∼ (c) β = 2 = 0.71548 when t = 25 ln 6 ∼ = 0.71670 26. (a) y = (6 + β)e−2t − (4 + β)e−3t 4 (b) tm = ln[(12 + 3β)/(12 + 2β)], ym = 27 (6 + β)3 /(4 + β)2 √ ∼ (c) β = 6(1 + 3) = 16.3923 (d) tm → ln(3/2), ym → ∞ 27. y + 3y + 2y = 0 is one such equation. 28. y = c1 t −1 + c2 + ln t 29. y = c1 ln t + c2 + t 30. y = (1/k) ln |(k − t)/(k + t)| + c2 if c1 = k 2 > 0; y = (2/k) arctan(t/k) + c2 if c1 = −k 2 < 0; y = −2t −1 + c2 if c1 = 0; also y = c 31. y = ± 23 (t − 2c1 ) t + c1 + c2 ; also y = c Hint: µ(v) = v −3 is an integrating factor. 32. y = c1 e−t + c2 − te−t 33. c12 y = c1 t − ln |1 + c1 t| + c2 if c1 = 0; y = 12 t 2 + c2 if c1 = 0; also y = c 34. 36. 38. 40. 42. 43.
y 2 = c1 t + c2 35. y = c1 sin(t + c2 ) = k1 sin t + k2 cos t 1 3 y − 2c y + c = 2t; also y = c 37. t + c2 = ± 23 (y − 2c1 )(y + c1 )1/2 1 2 3 y ln |y| − y + c1 y + t = c2 ; also y = c 39. e y = (t + c2 )2 + c1 3/2 4 1 y = 3 (t + 1) − 3 41. y = 2(1 − t)−2 2 3 y = 3 ln t − 2 ln(t + 1) − 5 arctan t + 2 + 32 ln 2 + 54 π y = 12 t 2 + 32
Section 3.2, page 145
2, 4, 8
12, 14, 15, 18, 21
25, 27, 30, 32, 34, 36
1. 3. 5. 7. 9. 11. 14. 16. 18. 20. 21. 22. 23. 25. 28.
− 72 et/2 e−4t −e2t 0
37
31. 34. 37.
1 x 2 ex 0 −∞ < t < 1 0
1 t e 3 − 12 e−3(t−1)
y1 (t) = − 12 e−3(t−1) + 32 e−(t−1) , y2 (t) = + 12 e−(t−1) Yes 24. Yes Yes 26. Yes x 2 2 2 Yes, y = c1 e−x /2 et /2 dt + c2 e−x /2
x0
x 1 µ(t) 1 cos x c1 Yes, y = dt + c2 , µ(x) = exp − + dx µ(x) t x x x0 33. x 2 µ + 3xµ + (1 + x 2 − ν 2 )µ = 0 Yes, y = c1 x −1 + c2 x 35. µ − xµ = 0 (1 − x 2 )µ − 2xµ + α(α + 1)µ = 0 The Legendre and Airy equations are self-adjoint.
29. No 30.
2. 4. 6. 8. 10. 12. 15. 17. 19.
Section 3.3, page 152
2, 6, 7, 12, 15
1. 3. 5. 7.
Independent Independent Dependent Independent if origin is interior to interval;
2. Dependent 4. Dependent 6. Independent otherwise dependent
689
Answers to Problems
See SSM for detailed solutions to 20, 24, 26, 27
8. 9. 11. 13. 16. 18. 21. 26.
28
Independent if origin is interior to interval; otherwise dependent Independent; W is not always zero 10. Independent; W is not always zero W (c1 y1 , c2 y2 ) = c1 c2 W (y1 , y2 ) = 0 12. W (y3 , y4 ) = −2W (y1 , y2 ) a1 b2 − a2 b1 = 0 15. ct 2 et c cos t 17. c/x c/(1 x 2) 20. 2/25 √ − 3 e∼ 22. p(t) = 0 for all t = 4.946 If t0 is an inflection point, and y = φ(t) is a solution, then from the differential equation p(t0 )φ (t0 ) + q(t0 )φ(t0 ) = 0.
Section 3.4, page 158
1, 5, 7
11, 14, 18, 22, 23a
23b, 25abcd, 31, 33
35, 38, 39
e cos 2 + ie sin 2 ∼ = −1.1312 + 2.4717i e2 cos 3 − ie2 sin 3 ∼ = −7.3151 − 1.0427i −1 e2 cos(π/2) − ie2 sin(π/2) = −e2 i ∼ = −7.3891i 2 cos(ln 2) − 2i sin(ln 2) ∼ = 1.5385 − 1.2779i π −1 cos(2 ln π ) + iπ −1 sin(2 ln π ) ∼ = −0.20957 + 0.23959i √ √ y = c1 et cos t + c2 et sin t 8. y = c1 et cos 5 t + c2 et sin 5 t 10. y = c1 e−t cos t + c2 e−t sin t y = c1 e2t + c2 e−4t y = c1 e−3t cos 2t + c2 e−3t sin 2t 12. y = c1 cos(3t/2) + c2 sin(3t/2) −t −t y = c1 e cos(t/2) + c2 e sin(t/2) 14. y = c1 et/3 + c2 e−4t/3 y = c1 e−t/2 cos t + c2 e−t/2 sin t 16. y = c1 e−2t cos(3t/2) + c2 e−2t sin(3t/2) 1 y = 2 sin 2t; steady oscillation y = e−2t cos t + 2e−2t sin t; decaying oscillation y = −et−π/2 √oscillation √sin 2t; growing y = (1 + 2 3) cos t − (2 − 3) sin t; steady oscillation y = 3e−t/2 cos t + 52 e−t/2 sin t; decaying oscillation √ √ −(t−π/4) y = 2e−(t−π/4) cos oscillation √ t + 2 e √ sint/6t; decaying √ t/6 (a) u = 2e cos( 23 t/6) − (2/ 23)e sin( 23 t/6) (b) t = 10.7598 √ √ √ 24. (a) u = 2e−t/5 cos( 34 t/5) + (7/ 34) e−t/5 sin( 34 t/5) (b) T = 14.5115√ √ √ + [(α + 2)/ 5]√e−t sin 5 t √ (b) α = 1.50878 25. (a) y = 2e−t cos 5 t √ (d) π/ 5 (c) t = {π − arctan [2 5/(2 + α)]}/ 5 (b) T = 1.8763 26. (a) y = e−at cos t + ae−at sin t (c) α = 14 , T = 7.4284; α = 12 , T= 4.3003; α = 2, T = 1.5116
1. 2. 3. 4. 5. 6. 7. 9. 11. 13. 15. 17. 18. 19. 20. 21. 22. 23.
35. 36. 37. 39. 41.
2
Yes, y = c1 cos x + c2 sin x, x = e−t /2 dt No √ √ 2 2 Yes, y = c1 e−t /4 cos( 3 t 2 /4) + c2 e−t /4 sin( 3 t 2 /4) y = c1 cos(ln t) + c2 sin(ln t) 40. y = c1 t −1 + c2 t −2 −1 −1 1 1 y = c1 t cos( 2 ln t) + c2 t sin( 2 ln t) 42. y = c1 t 6 + c2 t −1
Section 3.5, page 166
1, 9, 12
1. 3. 5. 7. 9. 11. 12. 13.
y y y y y y y y
2. = c1 et + c2 tet = c1 e−t/2 + c2 e3t/2 4. = c1 et cos 3t + c2 et sin 3t 6. = c1 e−t/4 + c2 e−4t 8. = c1 e2t/5 + c2 te2t/5 10. = 2e2t/3 − 73 te2t/3 , y → −∞ as t → ∞ = 2te3t , y → ∞ as t → ∞ = −e−t/3 cos 3t + 59 e−t/3 sin 3t, y → 0 as t
y y y y y
= c1 e−t/3 + c2 te−t/3 = c1 e−3t/2 + c2 te−3t/2 = c1 e3t + c2 te3t = c1 e−3t/4 + c2 te−3t/4 = e−t/2 cos(t/2) + c2 e−t/2 sin(t/2)
→∞
690 See SSM for detailed solutions to 14, 17ab
Answers to Problems
14. y = 7e−2(t+1) + 5te−2(t+1) , 15. (a) y = e−3t/2 − 52 te−3t/2 (c) t0 = 16/15,
y → 0 as t → ∞ (b) t = 25 y0 = − 53 e−8/5 ∼ = −0.33649
33, 35, 38
33.
(d) y = e−3t/2 + (b + 32 )te−3t/2 ; b = − 32 y = 2et/2 + (b − 1)tet/2 ; b = 1 (a) y = e−t/2 + 52 te−t/2 (b) t0 = 85 , y0 = 5e−4/5 ∼ = 2.24664 −t/2 −t/2 1 (c) y = e + (b + 2 )te (d) t M = 4b/(1 + 2b) → 2 as b → ∞; y M = (1 + 2b) exp[−2b/(1 + 2b)] → ∞ as b → ∞ (b) a = 32 (a) y = ae−2t/3 + ( 32 a − 1)te−2t/3 3 y2 (t) = t 24. y2 (t) = t −2 y2 (t) = t −1 ln t 26. y2 (t) = tet y2 (x) = cos x 2 √ 28. y2 (x) = x −2 x y2 (x) = x 1/4 e 30. y2 (x) = x −1/2 cos x x −δx 2 /2 δs 2 /2 −δx 2 /2 y = c1 e e ds + c2 e
0t −2 s y2 (t) = y1 (t) y1 (s) exp − p(r ) dr ds
42
34. 36. 39. 42.
y2 (t) = t −1 ln t y2 (x) = x (b) y0 + (a/b)y0 y = c1 t −1/2 + c2 t −1/2 ln t
16. 17.
17cd, 19, 21, 25
27, 30, 31b
18. 23. 25. 27. 29. 32.
t0
s0
35. y2 (t) = cos t 2 37. y2 (x) = x −1/2 cos x 41. y = c1 t 2 + c2 t 2 ln t
Section 3.6, page 178
1, 4, 6, 8
11, 13, 16
19a, 22a
= c1 e3t + c2 e−t − e2t 3 = c1 e−t cos 2t + c2 e−t sin 2t + 17 sin 2t − 12 cos 2t 17 3t −t −t 3 3 2 −t = c1 e + c2 e + 16 te + 8 t e = c1 + c2 e−2t + 32 t − 12 sin 2t − 12 cos 2t 1 = c1 cos 3t + c2 sin 3t + 162 (9t 2 − 6t + 1)e3t + 23 = c1 e−t + c2 te−t + t 2 e−t 3 9 = c1 e−t + c2 e−t/2 + t 2 − 6t + 14 − 10 sin t − 10 cos t 1 5 = c1 cos t + c2 sin t − 3 t cos 2t − 9 sin 2t = c1 cos ω0 t + c2 sin ω0 t + (ω02 − ω2 )−1 cos ωt = c1 cos ω0 t + c2 sin ω0 t + (1/2ω0 )t sin ω0 t √ √ 11. y = c1 e−t/2 cos( 15 t/2) + c2 e−t/2 sin( 15 t/2) + 16 et − 14 e−t 1. 2. 3. 4. 5. 6. 7. 8. 9. 10.
y y y y y y y y u u
12. 14. 16. 18.
y y y y
= c1 e−t + c2 e2t + 16 te2t + 18 e−2t 13. y = et − 12 e−2t − t − 12 7 19 1 2 1 3 t = 10 sin 2t − 40 cos 2t + 4 t − 8 + 5 e 15. y = 4tet − 3et + 16 t 3 et + 4 = e3t + 23 e−t − 23 e2t − te2t 17. y = 2 cos 2t − 18 sin 2t − 34 t cos 2t = e−t cos 2t + 12 e−t sin 2t + te−t sin 2t
19. (a) Y (t) = t (A0 t 4 + A1 t 3 + A2 t 2 + A3 t + A4 ) + t (B0 t 2 + B1 t + B2 )e−3t + D sin 3t + E cos 3t (b) A0 = 2/15, A1 = −2/9, A2 = 8/27, A3 = −8/27, A4 = 16/81, B0 = −1/9, B1 = −1/9, B2 = −2/27, D = −1/18, E = −1/18 20. (a) Y (t) = A0 t + A1 + t (B0 t + B1 ) sin t + t (D0 t + D1 ) cos t (b) A0 = 1, A1 = 0, B0 = 0, B1 = 1/4, D0 = −1/4, D1 = 0 21. (a) Y (t) = et (A cos 2t + B sin 2t) + (D0 t + D1 )e2t sin t + (E 0 t + E 1 )e2t cos t (b) A = −1/20, B = −3/20, D0 = −3/2, D1 = −5, E 0 = 3/2, E 1 = 1/2 22. (a) Y (t) = Ae−t + t (B0 t 2 + B1 t + B2 )e−t cos t + t (D0 t 2 + D1 t + D2 )e−t sin t (b) A = 3, B0 = −2/3, B1 = 0, B2 = 1, D0 = 0, D1 = 1, D2 = 1
691
Answers to Problems
See SSM for detailed solutions to 28 30, 33
23. (a) Y (t) = A0 t 2 + A1 t + A2 + t 2 (B0 t + B1 )e2t + (D0 t + D1 ) sin 2t + (E 0 t + E 1 ) cos 2t (b) A0 = 1/2, A1 = 1, A2 = 3/4, B0 = 2/3, B1 = 0, D0 = 0, D1 = −1/16, E 0 = 1/8, E 1 = 1/16 24. (a) Y (t) = t (A0 t 2 + A1 t + A2 ) sin 2t + t (B0 t 2 + B1 t + B2 ) cos 2t (b) A0 = 0, A1 = 13/16, A2 = 7/4, B0 = −1/12, B1 = 0, B2 = 13/32 25. (a) Y (t) = (A0 t 2 + A1 t + A2 )et sin 2t + (B0 t 2 + B1 t + B2 )et cos 2t + e−t (D cos t + E sin t) + Fet (b) A0 = 1/52, A1 = 10/169, A2 = −1233/35152, B0 = −5/52, B1 = 73/676, B2 = −4105/35152, D = −3/2, E = 3/2, F = 2/3 26. (a) Y (t) = t (A0 t + A1 )e−t cos 2t + t (B0 t + B1 )e−t sin 2t + (D0 t + D1 )e−2t cos t + (E 0 t + E 1 )e−2t sin t (b) A0 = 0, A1 = 3/16, B0 = 3/8, B1 = 0, D0 = −2/5, D1 = −7/25, E 0 = 1/5, E 1 = 1/25 N [am /(λ2 − m 2 π 2 )] sin mπ t 27. y = c1 cos λt + c2 sin λt + m=1 t, 0≤t ≤π 28. y = −(1 + π/2) sin t − (π/2) cos t + (π/2)eπ −t , t > π 1 1 −t − 10 e sin 2t − 15 e−t cos 2t, 0 ≤ t ≤ π/2 5 29. y = π/2 −t π/2 −t 1 1 − 5 (1 + e )e cos 2t − 10 (1 + e )e sin 2t, t > π/2 30. No 33. y = c1 e4t + c2 e−t − 12 e2t Section 3.7, page 183
2 5, 11, 14
2. Y (t) = − 32 te−t
1. Y (t) = et 3. 5. 6. 7. 8. 9.
3 2 −t t e 2
Y (t) = 4. Y (t) = 2t 2 et/2 y = c1 cos t + c2 sin t − (cos t) ln(tan t + sec t) y = c1 cos 3t + c2 sin 3t + (sin 3t) ln(tan 3t + sec 3t) − 1 y = c1 e−2t + c2 te−2t − e−2t ln t y = c1 cos 2t + c2 sin 2t + 34 (sin 2t) ln sin 2t − 32 t cos 2t y = c1 cos(t/2) + c2 sin(t/2) + t sin(t/2) + 2[ln cos(t/2)] cos(t/2)
10. y = c1 et + c2 tet − 12et ln(1 + t 2 ) + tet arctan t 11. y = c1 e2t + c2 e3t +
[e3(t−s) − e2(t−s) ] g(s) ds
12. y = c1 cos 2t + c2 sin 2t + 13. Y (t) = 15. Y (t) =
18, 22
17. Y (x) =
[sin 2(t − s)] g(s) ds
1 + t 2 ln t 2 1 (t − 1)e2t 2 3 1 2 6 x (lnt x) x
14. Y (t) = −2t 2 16. Y (t) = − 21 (2t − 1)e−t 18. Y (x) = − 32 x 1/2 cos x
xe − te g(t) dt 20. Y (x) = x −1/2 t −3/2 sin(x − t)g(t) dt 2 t t (1 − t) e sin(t − s)g(s) ds 23. (b) y = y0 cos t + y0 sin t +
19. Y (x) =
24. y = (b − a)
25, 29
1 2
25.
−1
t
t0
[e
b(t−s)
− ea(t−s) ] g(s) ds
t0 t λ(t−s) −1 e sin µ(t − s)g(s) ds y=µ t t0 a(t−s)
26. y =
t0
(t − s)e
g(s) ds
1 t 30. y = c1 t −1 + c2 t −5 + 12 t 1 32. y = c1 e + c2 t − 2 (2t − 1)e−t
29. y = c1 t + c2 t 2 + 4t 2 ln t 31. y = c1 (1 + t) + c2 et + 12 (t − 1)e2t
692
Answers to Problems
Section 3.8, page 197
See SSM for detailed solutions to 2, 6
1. 2. 3. 4. 5.
u u u u u
= 5 cos(2t − δ), δ = arctan(4/3) ∼ = 0.9273 = 2√ cos(t − 2π/3) =√ 2 5 cos(3t − δ), δ = − arctan(1/2) ∼ = −0.4636 = 13 cos(π t − δ), δ = π + arctan(3/2) ∼ = 4.1244 = 14 cos 8t ft, t in sec; ω = 8 rad/sec, T = π/4 sec,
R = 1/4 ft
6. u = sin 14t cm, t in sec; t = π/14 sec √ √ √ √ 1 cos(8 2 t) ft, t in sec; ω = 8 2 rad/sec, 7. u = (1/4 2) sin(8 2 t) − 12 √ √ √ T = π/4 2 sec, R = 11/288 ∼ = 0.1954 ft, δ = π − arctan(3/ 2) ∼ = 2.0113 8. Q = 10−6 cos 2000t coulombs, t in sec √ √ √ 9. u = e−10t √ sec; √ [ 2 cos(4 6 t) + (5/ √6) sin(4 6 t)] cm, t in µ = 4 6 rad/sec, Td = π/2 6 sec, Td /T = 7/2 6 ∼ 1.4289, τ ∼ = 0.4045 sec √ √= √ −2t t = π/2 31 sec, τ ∼ 10. u = (1/8 31)e sin(2 31 t) ft, t in sec; = 1.5927 sec µ = 3.87008 rad/sec, 11. u ∼ = 0.057198e−0.15t √ cos(3.87008 t − 0.50709) m, t in sec; µ/ω0 = 3.87008/ 15 ∼ = 0.99925 12. Q = √ 10−6 (2e−500t − e−1000t ) coulombs; t in sec 13. γ = 20/9 ∼ = 1.4907 16. r = A2 + B 2 , r cos θ = B, r sin θ = −A; R = r ; δ = θ + (4n + 1)π/2, n = 0, 1, 2, . . . 17. γ = 8 lb-sec/ft 18. R =√103 ohms 20. v0 < −γ u 0 /2m 22. 2π/ 31 √ 23. γ = 5 lb-sec/ft 24. k = 6, v = ±2 5 25. (a) τ ∼ (d) γ0 ∼ = 1.73, min τ ∼ = 4.87 = 41.715 2 (e) τ = (2/γ ) ln(400/ 4 − γ )
26. (a) u(t) = e−γ t/2m u 0 4km − γ 2 cos µt + (2mv0 + γ u 0 ) sin µt / 4km − γ 2 5 7
8, 9, 12, 17
19, 20, 23, 24
27, 29ac, 30a
27. 28. 29. 30. 32.
(b) R 2 = 4m(ku 20 + γ u 0 v0 + mv02 )/(4km − γ 2 ) ρlu + ρ0 gu = 0, T = 2π ρl/ρ0 g √ √ (a) u = 2 sin clockwise √ 2 t −t/8 (c) √ (a) u = (16/ √ 127)e sin(√ 127 t/8)√ (c) clockwise (b) u = a cos( k/m t) + b m/k sin( k/m t) (b) u = sin t, A = 1, T = 2π (c) A = 0.98, T = 6.07 (d) = 0.2, A = 0.96, T = 5.90; = 0.3, A = 0.94, T = 5.74 (f) = −0.1, A = 1.03, T = 6.55; = −0.2, A = 1.06, T = 6.90; = −0.3, A = 1.11, T = 7.41
Section 3.9, page 205
1, 5, 7ac, 10, 11a
1. 3. 5. 6. 7. 8.
11b
9. 10. 11. 12.
−2 sin 8t sin t 2. 2 sin(t/2) cos(13t/2) 2 cos(3π t/2) cos(π t/2) 4. 2 sin(7t/2) cos(t/2) u + 256u = 16 cos 3t, u(0) = 16 , u (0) = 0, u in ft, t in sec u + 10u + 98u = 2 sin(t/2), u(0) = 0, u (0) = 0.03, u in m, t in sec 151 16 (a) u = 1482 cos 16t + 247 cos 3t (c) ω = 16 rad/sec √ √ 383,443 −5t −5t 1 (a) u = 153,281 [160e cos( 73 t) + 7300 e sin( 73 t) − 160 cos(t/2) + 3128 sin(t/2)] √ (b) The first two terms are the transient. (d) ω = 4 3 rad/sec u = 64 (cos 7t − cos 8t) = 128 sin(t/2) sin(15t/2) ft, t in sec 45 45 u = (cos 8t + sin 8t − 8t cos 8t)/4 ft, t in sec; 1/8, π/8, π/4, 3π/8 sec 8 (a) 901 (30 cos 2t + sin 2t) ft, t in sec (b) m = 4 slugs √ u = ( 2/6) cos(3t − 3π/4) m, t in sec
693
Answers to Problems
See SSM for detailed solutions to 15 and 16
15. 16. 17.
22 and 24 18. 19. C H A P T E R
2, 8, 13, 17, 19c
21, 27
2, 8, 12
4
0≤t ≤π F0 (t − sin t), u= π < t ≤ 2π F0 [(2π − t) − 3 sin t], −4F0 sin t, 2π < t < ∞ −6 −4000t −1000t − 4e + 3) coulombs, t in sec, Q(0.001) ∼ Q(t) = 10 (e = 1.5468 × 10−6 ; −6 −6 ∼ Q(0.01) = 2.9998 × 10 ; Q(t) → 3 × 10 as t → ∞ (a) u = [32(2 − ω2 ) cos ωt + 8ω sin ωt]/(64 − 63ω2 + 16ω4 ) √ (d) ω = 3 14/8 ∼ (b) A = 8/ 64 − 63ω2 + 16ω4 = 1.4031, √ ∼ 5.6791 A = 64/ 127 = (a) u = 3(cos t − cos ωt)/(ω2 − 1) (a) u = [(ω2 + 2) cos t − 3 cos ωt]/(ω2 − 1) + sin t
Section 4.1, page 212 −∞ < t < ∞ 2. t > 0 or t < 0 t > 1, or 0 < t < 1, or t < 0 4. t > 0 . . . , −3π/2 < x < −π/2, −π/2 < x < 1, 1 < x < π/2, π/2 < x < 3π/2, . . . −∞ < x < −2, −2 < x < 2, 2 < x < ∞ Linearly independent Linearly dependent; f 1 (t) + 3 f 2 (t) − 2 f 3 (t) = 0 Linearly dependent; 2 f 1 (t) + 13 f 2 (t) − 3 f 3 (t) − 7 f 4 (t) = 0 Linearly independent 1 12. 1 13. −6e−2t −2t e 15. 6x 16. 6/x 1 sin2 t = 10 (5) − 12 cos 2t (a) a0 [n(n − 1)(n − 2) · · · 1] + a1 [n(n − 1) · · · 2]t + · · · + an t n (b) (a0 r n + a1 r n−1 + · · · + an )er t (c) et , e−t , e2t , e−2t ; yes, W (et , e−t , e2t , e−2t ) = 0, −∞ < t < ∞ 21. W = ce−2t 22. W = c 24. W = c/t 23. W = c/t 2 27. y = c1 et + c2 t + c3 tet 28. y = c1 t 2 + c2 t 3 + c3 (t + 1) 1. 3. 5. 6. 7. 8. 9. 10. 11. 14. 17. 19.
Section 4.2, page 219 √ i[(π/4)+2mπ ] 2e 1. 3. 3ei(π +2mπ ) ] 5. 2ei[(11π/6)+2mπ √ √ 7. 1, 12 (−1 + i 3), 12 (−1 − i 3) 9. 1, i, −1, −i 11. y = c1 et + c2 tet + c3 e−t 13. y = c1 et + c2 e2t + c3 e−t √
15, 23
2. 4. 6. 8. 10. 12. 14.
2ei[(2π/3)+2mπ ] e√i[(3π/2)+2mπ ] 2ei[(5π/4)+2mπ ] 1/4 −πi/8 2√ e ,√21/4 e7πi/8 √ √ ( 3 + i)/ 2, −( 3 + i)/ 2 y = c1 et + c2 tet + c3 t 2 et y = c1 + c2 t + c3 e2t + c4 te2t √
15. 16. 17. 18. 19. 20. 21.
y y y y y y y
= c1 cos t + c2 sin t + e 3t/2 (c3 cos 12 t + c4 sin 12 t) + e− 3t/2 (c5 cos 12 t + c6 sin 12 t) = c1 et + c2 e−t + c3 e2t + c4 e−2t = c1 et + c2 tet + c3 t 2 et + c4 e−t + c5 te−t + c6 t 2 e−t = c1 + c2 t + c3 et + c4 e−t + c5 cos t + c6 sin t = c1 + c2 et + c3 e2t + c4 cos t + c5 sin t √ √ = c1 + c2 e2t + e−t (c3 cos 3 t + c4 sin 3 t) = et [(c1 + c2 t) cos t + (c3 + c4 t) sin t] + e−t [(c5 + c6 t) cos t + (c7 + c8 t) sin t]
22. 24. 25. 26.
y y y y
(c3 + c4 t) sin t 23. y = c1 et + c2 e(2+ = (c1 + c2 t) cos t + √ √ −t (−2+ 2)t (−2− 2)t = c1 e + c2 e + c3 e √ √ = c1 e−t/2 + c2 e−t/3 cos(t/√ 3) + c3 e−t/3 sin(t/ 3) √ 3t −2t (3+ 3)t (3− 3)t + c4 e = c1 e + c2 e + c3 e
√
5)t
√
+ c3 e(2−
5)t
694 See SSM for detailed solutions to 27 ,29 ,30, 31
34, 37, 38a, 39ac
Answers to Problems
27. 28. 29. 30. 31. 33. 35. 36. 37. 38. 39.
= c1 e−t/3 + c2 e−t/4 + c3 e−t cos 2t + c4 e−t sin 2t √ √ = c1 e−t cos t + c2 e−t sin t + c3 e−2t cos( 3 t) + c4 e−2t sin( 3 t) = 2 − 2√cos t + sin t √ √ √ = 12 e−t/ 2 sin(t/ 2) − 12 et/ 2 sin(t/ 2) = 2t − 3 32. y = 2 cos t − sin t −t/2 1 2t 2 −t = − 23 et − 10 e − 16 e−2t − 16 e 34. y = 13 e + 24 et/2 cos t + 15 13 −t/3 −t/2 = 8 − 18e + 8e √ √ √ 17 3 −2t 21 −t 38 −t 8 −2t y = 13 e cos t − 13 e sin t − 13 e cos( 3 t) + e sin( 3 t) 39 y = 12 (cosh t − cos t) + 12 (sinh t − sin t) (a) W = c, a constant (b) W = −8 (c) W = 4 √ √ (b) u 1 = c1 cos t + c2 sin t + c3 cos 6 t + c4 sin 6 t y y y y y y y
3 t/2 e 13
sin t
Section 4.3, page 224
1
5, 9, 13
1. 2. 3. 4. 5. 6. 7. 8.
y y y y y y y y
= c1 et + c2 tet + c3 e−t + 12 te−t + 3 = c1 et + c2 e−t + c3 cos t + c4 sin t − 3t − 14 t sin t = c1 e−t + c2 cos t + c3 sin t + 12 te−t + 4(t − 1) = c1 + c2 et + c3 e−t + cos t 1 4 1 2 = c1 + c2 t + c3 e−2t + c4 e2t − 13 et − 48 t − 16 t = c1 cos t + c2 sin t + c3 t cos t + c4 t sin t + 3 + 19 cos 2t √ √ = c1 + c2 t + c3 t 2 + c4 e−t + et/2 [c5 cos( 3 t/2) + c6 sin( 3 t/2)] + 1 1 = c1 + c2 t + c3 t 2 + c4 e−t + 20 sin 2t + 40 cos 2t
9. y =
3 (1 16
1 4 t 24
− cos 2t) + 18 t 2
10. y = (t − 4) cos t − ( 23 t + 4) sin t + 3t + 4 11. y = 1 + 14 (t 2 + 3t) − tet 12. y = − 25 cos t − 45 sin t +
1 −t e 20
+
81 t e 40
+
73 −3t e 520 2 t
+
77 65
cos 2t −
49 130
sin 2t
13. Y (t) = t (A0 t + A1 t + A2 t + A3 ) + Bt e 3
17, 20, 22a
22be
14. 15. 16. 17. 18. 19.
2
Y (t) = t (A0 t + A1 )e−t + B cos t + C sin t Y (t) = At 2 et + B cos t + C sin t Y (t) = At 2 + (B0 t + B1 )et + t (C cos 2t + D sin 2t) Y (t) = t (A0 t 2 + A1 t + A2 ) + (B0 t + B1 ) cos t + (C0 t + C1 ) sin t Y (t) = Aet + (B0 t + B1 )e−t + te−t (C cos t + D sin t) k0 = a0 , kn = a0 α n + a1 α n−1 + · · · + an−1 α + an
Section 4.4, page 229
1, 4, 5, 7
1. 2. 3. 4. 5. 6. 7.
= c1 + c2 cos t + c3 sin t − ln cos t − (sin t) ln(sec t + tan t) = c1 + c2 et + c3 e−t − 12 t 2 1 4t = c1 et + c2 e−t + c3 e2t + 30 e = c1 + c2 cos t + c3 sin t + ln(sec t + tan t) − t cos t + (sin t) ln cos t = c1 et + c2 cos t + c3 sin t − 15 e−t cos t = c1 cos t + c2 sin t + c3 t cos t + c4 t sin t − 18 t 2 sin t = c1 et + c2 cos t + c3 sin t − 12 (cos t) ln cos t + 12 (sin t) ln cos t − 12 t cos t − 12 t sin t t −s e / cos s ds + 12 et y y y y y y y
t0
Answers to Problems
8. y = c1 + c2 et + c3 e−t − ln sin t + ln(cos t + 1) + 12 et t s + 12 e−t e / sin s ds
t t0
695 e−s / sin s ds
t0
9. c1 = 0, c2 = 2, c3 = 1 in answer to Problem 4 10. c1 = 2, c2 = 78 , c3 = − 78 , c4 = 11. c1 =
See SSM for detailed solutions to 11, 14
1 , 2
c3 =
− 52 , t0 π/2
12. c1 = 3, c2 = 0, c3 = −e
in answer to Problem 6
= 0 in answer to Problem 7
, t0 = π/2 in answer to Problem 8
13. Y (x) = x 4 /15
16
14. Y (t) =
1 2
15. Y (t) =
1 2
16. Y (t) =
2
17. Y (x) = C H A P T E R
c2 =
3 , 2
1 2
5
2, 5, 9, 12, 13
t t t0
t0t 1 1 2
[et−s − sin(t − s) − cos(t − s)]g(s) ds [sinh(t − s) − sin(t − s)]g(s) ds e(t−s) (t − s)2 g(s) ds; Y (t) = −tet ln |t|
x t0
x0
[(x/t 2 ) − 2(x 2 /t 3 ) + (x 3 /t 4 )]g(t) dt
Section 5.1, page 237 1. ρ = 1 3. ρ = ∞ 5. ρ = 12 7. ρ = 3 ∞ (−1)n x 2n+1 9. , (2n + 1)! n=0
2. ρ = 2 4. ρ = 12 6. ρ = 1 8. ρ = e ∞ xn 10. , n! n=0
ρ=∞
12. 1 − 2(x + 1) + (x + 1)2 , ∞ (−1)n x n , ρ = 1 14.
11. 1 + (x − 1), ρ = ∞ ∞ (x − 1)n (−1)n+1 , ρ=1 13. n n=1 ∞ xn, ρ = 1 15.
ρ=∞
n=0
∞ 16. (−1)n+1 (x − 2)n ,
n=0
18, 19, 23, 25, 28
ρ=∞
ρ=1
n=0
17. y = 1 + 22 x + 32 x 2 + 42 x 3 + · · · + (n + 1)2 x n + · · · y = 22 + 32 · 2x + 42 · 3x 2 + 52 · 4x 3 + · · · + (n + 2)2 (n + 1)x n + · · · 18. y = a1 + 2a2 x + 3a3 x 2 + 4a4 x 3 + · · · + (n + 1)an+1 x n + · · · ∞ ∞ nan x n−1 = (n + 1)an+1 x n = n=1
n=0
y = 2a2 + 6a3 x + 12a4 x 2 + 20a5 x 3 + · · · + (n + 2)(n + 1)an+2 x n + · · · ∞ ∞ = n(n − 1)an x n−2 = (n + 2)(n + 1)an+2 x n n=2
∞ 21. (n + 2)(n + 1)an+2 x n
n=0
22.
n=0
24.
n=0
25.
n=0
∞
[(n + 2)(n + 1)an+2 − n(n − 1)an ]x n
n=0
[(n + 2)(n + 1)an+2 + nan ]x
∞ 27. [(n + 1)nan+1 + an ]x n n=0
an−2 x n
n=2
∞ 23. (n + 1)an x n ∞
∞
n
26. a1 +
∞
[(n + 1)an+1 + an−1 ]x n
n=1
28. an = (−2)n a0 /n!,
n = 1, 2, . . . ;
a0 e−2x
696
Answers to Problems
Section 5.2, page 247
See SSM for detailed solutions to 2
3
1. an+2 = an /(n + 2)(n + 1) ∞ x 2n x2 x4 x6 y1 (x) = 1 + + + + ··· = = cosh x 2! 4! 6! (2n)! n=0 ∞ x 2n+1 x3 x5 x7 y2 (x) = x + + + + ··· = = sinh x 3! 5! 7! (2n + 1)! n=0 2. an+2 = an /(n + 2) ∞ x2 x 2n x4 x6 y1 (x) = 1 + + + + ··· = 2 2·4 2·4·6 2n n! n=0 ∞ 2n n!x 2n+1 x3 x5 x7 y2 (x) = x + + + + ··· = 3 3·5 3·5·7 (2n + 1)! n=0 3. (n + 2)an+2 − an+1 − an = 0 y1 (x) = 1 + 12 (x − 1)2 + 16 (x − 1)3 + 16 (x − 1)4 + · · · y2 (x) = (x − 1) + 12 (x − 1)2 + 12 (x − 1)3 + 14 (x − 1)4 + · · · 4. an+4 = −k 2 an /(n + 4)(n + 3); a2 = a3 = 0 k2 x 4 k4 x 8 k 6 x 12 y1 (x) = 1 − + − + ··· 3·4 3 · 4 · 7 · 8 3 · 4 · 7 · 8 · 11 · 12 ∞ m+1 2 4 m+1 (−1) (k x ) =1+ 3 · 4 · 7 · 8 · · · (4m + 3)(4m + 4) m=0 k2 x 5 k4 x 9 k 6 x 13 y2 (x) = x − + − + ··· 4·5 4 · 5 · 8 · 9 4 · 5 · 8 · 9 · 12 · 13 ∞ (−1)m+1 (k 2 x 4 )m+1 = x 1+ 4 · 5 · 8 · 9 · · · (4m + 4)(4m + 5) m=0
5, 8
Hint: Let n = 4m in the recurrence relation, m = 1, 2, 3, . . . . 5. (n + 2)(n + 1)an+2 − n(n + 1)an+1 + an = 0, n ≥ 1; a2 = − 12 a0 y1 (x) = 1 − 12 x 2 − 16 x 3 −
1 4 x 24
+ ···,
y2 (x) = x − 16 x 3 −
6. an+2 = −(n − 2n + 4)an /[2(n + 1)(n + 2)], 2
n ≥ 2;
1 4 x 12
−
a2 = −a0 ,
1 5 x 24
+ ···
a3 = − 14 a1
1 6 7 5 19 7 y1 (x) = 1 − x 2 + 16 x 4 − 30 x + ···, y2 (x) = x − 14 x 3 + 160 x − 1920 x + ··· 7. an+2 = −an /(n + 1), n = 0, 1, 2, . . . ∞ x2 (−1)n x 2n x4 x6 y1 (x) = 1 − + − + ··· = 1 + 1 1·3 1·3·5 1 · 3 · 5 · · · (2n − 1) n=1 ∞ (−1)n x 2n+1 x3 x5 x7 y2 (x) = x − + − + ··· = x + 2 2·4 2·4·6 2 · 4 · 6 · · · (2n) n=1
8. an+2 = −[(n + 1)2 an+1 + an + an−1 ]/(n + 1)(n + 2), n = 1, 2, . . . a2 = −(a0 + a1 )/2 1 (x − 1)4 + · · · y1 (x) = 1 − 12 (x − 1)2 + 16 (x − 1)3 − 12 2 3 1 1 y2 (x) = (x − 1) − 2 (x − 1) + 6 (x − 1) − 16 (x − 1)4 + · · · 9. (n + 2)(n + 1)an+2 + (n − 2)(n − 3)an = 0; n = 0, 1, 2, . . . y1 (x) = 1 − 3x 2 , y2 (x) = x − x 3 /3 10. 4(n + 2)an+2 − (n − 2)an = 0; n = 0, 1, 2, . . . x2 x3 x5 x7 x 2n+1 y1 (x) = 1 − , y2 (x) = x − − − − ···− n − ··· 4 12 240 2240 4 (2n − 1)(2n + 1)
697
Answers to Problems
11. 3(n + 2)an+2 − (n + 1)an = 0;
n = 0, 1, 2, . . .
x 3 · 5 · · · (2n − 1) 2n x 5 6 + + x + ··· + n x + ··· 6 24 432 3 · 2 · 4 · · · (2n) 2 8 5 16 7 2 · 4 · · · (2n) y2 (x) = x + x 3 + x + x + ··· + n x 2n+1 + · · · 9 135 945 3 · 3 · 5 · · · (2n + 1) 12. (n + 2)(n + 1)an+2 − (n + 1)nan+1 + (n − 1)an = 0; n = 0, 1, 2, . . . 2
4
y1 (x) = 1 +
x2 x3 x4 xn + + + ···+ + · · · , y2 (x) = x 2 6 24 n! 13. 2(n + 2)(n + 1)an+2 + (n + 3)an = 0; n = 0, 1, 2, . . . 3 · 5 · · · (2n + 1) 2n 3 5 4 7 6 x − x + · · · + (−1)n x + ··· y1 (x) = 1 − x 2 + 4 32 384 2n (2n)! 4 · 6 · · · (2n + 2) 2n+1 x3 x5 x7 y2 (x) = x − + ··· + − + · · · + (−1)n x 3 20 210 2n (2n + 1)! 14. 2(n + 2)(n + 1)an+2 + 3(n + 1)an+1 + (n + 3)an = 0; n = 0, 1, 2, . . . y1 (x) = 1 +
See SSM for detailed solutions to 14, 16a, 19
y1 (x) = 1 − 34 (x − 2)2 + 38 (x − 2)3 + y2 (x) = (x − 2) − 34 (x − 2)2 +
15. 16. 17. 18. 19.
1 (x 64 3
− 2)4 + · · ·
1 9 (x − 2) + 64 (x − 2)4 + · · · 24 (c) about |x| < 0.7 (a) y = 2 + x + x 2 + 13 x 3 + 14 x 4 + · · · (a) y = −1 + 3x + x 2 − 34 x 3 − 16 x 4 + · · · (c) about |x| < 0.7 2 1 3 4 4 (a) y = 4 − x − 4x + 2 x + 3 x + · · · (c) about |x| < 0.5 3 2 1 3 1 4 (c) about |x| < 0.9 (a) y = −3 + 2x − 2 x − 2 x − 8 x + · · · 1 1 (x − 1)4 + 18 (x − 1)6 + · · · y1 (x) = 1 − 13 (x − 1)3 − 12 1 1 (x − 1)5 + 28 (x − 1)7 + · · · y2 (x) = (x − 1) − 14 (x − 1)4 − 20
λ 2 λ(λ − 4) 4 λ(λ − 4)(λ − 8) 6 x + x − x + ··· 2! 4! 6! λ − 2 3 (λ − 2)(λ − 6) 5 (λ − 2)(λ − 6)(λ − 10) 7 y2 (x) = x − x + x − x + ··· 3! 5! 7! 4 5 x (b) 1, x, 1 − 2x 2 , x − 23 x 3 , 1 − 4x 2 + 43 x 4 , x − 43 x 3 + 15
21. (a) y1 (x) = 1 −
22b, 23, 26
(c) 1, 2x, 4x 2 − 2, 8x 3 − 12x, 16x 4 − 48x 2 + 12, 32x 5 − 160x 3 + 120x 22. (b) y = x − x 3 /6 + · · ·
Section 5.3, page 253
1, 6, 9afh
1. 2. 3. 4. 5. 6. 7. 8. 9.
φ (0) = 0, φ iv (0) = 3 φ (0) = −1, φ (0) = 0, φ (0) = −2, φ iv (0) = 0 φ (1) = 0, φ (1) = −6, φ iv (1) = 42 φ (0) = −a0 , φ iv (0) = −4a1 φ (0) = 0, ρ = ∞, ρ = ∞ ρ = 1, ρ = √ 3, ρ = 1 ρ = 1, ρ = 3 ρ=1 (a) ρ = √ ∞ (b) ρ = ∞ (c) ρ = ∞ (d) ρ = ∞ (f) ρ = √2 (g) ρ = ∞ (h) ρ = 1 (i) ρ = 1 (m) ρ = ∞ (n) ρ = ∞ (k) ρ = 3 (l) ρ = 1
(e) ρ = 1 (j) ρ = 2
698 See SSM for detailed solutions to 10a
Answers to Problems
α 2 2 (22 − α 2 )α 2 4 (42 − α 2 )(22 − α 2 )α 2 6 x − x − x − ··· 2! 4! 6! [(2m − 2)2 − α 2 ] · · · (22 − α 2 )α 2 2m − x − ··· (2m)!
10. (a) y1 (x) = 1 −
1 − α 2 3 (32 − α 2 )(1 − α 2 ) 5 x + x + ··· 3! 5! 2 2 2 [(2m − 1) − α ] · · · (1 − α ) 2m+1 + + ··· x (2m + 1)! n (b) y1 (x) or y2 (x) terminates with x as α = n is even or odd. (c) n = 0, y = 1; n = 1, y = x; n = 2, y = 1 − 2x 2 ; n = 3, y = x − 43 x 3 y2 (x) = x +
10b, 11
18
20, 22
26, 28
1 5 1 6 1 4 1 6 1 7 11. y1 (x) = 1 − 16 x 3 + 120 x + 180 x + · · · , y2 (x) = x − 12 x + 180 x + 504 x + ···, ρ=∞ 1 4 1 5 1 4 1 5 1 6 x − 40 x + · · · , y2 (x) = x − 12 x + 20 x − 60 x + ···, 12. y1 (x) = 1 − 16 x 3 + 12 ρ=∞ 1 4 1 6 1 5 1 7 x + 120 x + · · · , y2 (x) = x + 16 x 3 + 60 x + 560 x + ···, 13. y1 (x) = 1 + x 2 + 12 ρ = π/2 1 4 1 6 1 4 7 5 x − 120 x + · · · , y2 (x) = x − 16 x 3 + 24 x + 120 x + ···, 14. y1 (x) = 1 + 16 x 3 + 12 ρ=1 15. Cannot specify arbitrary initial conditions at x = 0; hence x = 0 is a singular point. x2 xn 16. y = 1 + x + + ···+ + · · · = ex 2! n! x2 x4 x6 x 2n 17. y = 1 + + + + ··· + n + ··· 2 2·4 2·4·6 2 · n! 18. y = 1 + x + 12 x 2 + 12 x 3 + · · · 1 19. y = 1 + x + x 2 + · · · + x n + · · · = 1−x x2 xn x3 x4 xn + ···+ + ··· + 2 + + ···+ + ··· 20. y = a0 1 + x + 2! n! 3! 4! n! x2 x x = ce x − 2 − 2x − x 2 = a0 e + 2 e − 1 − x − 2
x2 x6 (−1)n x 2n x4 21. y = a0 1 − + 2 − 3 + ···+ + ··· 2 2n n! 2 2! 2 3! x3 x4 x5 x2 − − + + ··· + x+ 2 3 2·4 3·5 x2 x3 x4 x5 −x 2 /2 + x+ − − + + ··· = a0 e 2 3 2·4 3·5 23. 1, 1 − 3x 2 , 1 − 10x 2 +
35 4 x ; 3 3
x, x − 53 x 3 , x −
14 3 x 3 2
+
21 5 x 5
24. (a) 1, x, (3x 2 − 1)/2, (5x − 3x)/2, (35x 4 − 30x + 3)/8, (63x 5 − 70x 3 + 15x)/8 (c) P1 , 0; P2 , ±0.57735; P3 , 0, ±0.77460; P4 , ±0.33998, ±0.86114; P5 , 0, ±0.53847, ±0.90618
699
Answers to Problems
Section 5.4, page 259
See SSM for detailed solutions to 1, 5
12, 17
19, 21, 23
25
= 0, regular = 0, irregular; x = 1, regular = 1, regular; x = −1, irregular = −3, regular = 1, regular; x = −2, irregular = 1, −2, regular = 0, irregular = 0, regular = 0, ±nπ , regular x2 x4 19. y = a0 1 − + − ··· 2·5 2·4·5·9
2. 4. 6. 8. 10. 12. 14. 16. 18.
22. Irregular singular point 24. Regular singular point 26. Irregular singular point
23. Regular singular point 25. Irregular singular point 27. Irregular singular point
1. 3. 5. 7. 9. 11. 13. 15. 17.
x x x x x x x x x
x x x x x x x x x
= 0, = 0, = 0, = 0, = 0, = 0, = 0, = 0, = 0,
regular; x = 1, irregular irregular; x = ±1, regular regular −1, regular; x = 1, irregular 3, regular regular regular ±nπ , regular irregular; x = ±nπ , regular
Section 5.5, page 265
2, 4, 9, 13, 16
= c1 x −1 + c2 x −2 2. y = c1 |x + 1|−1/2 + c2 |x + 1|−3/2 2 2 = c1 x + c2 x ln |x| = c1 x −1 cos(2 ln |x|) + c2 x −1 sin(2 ln |x|) 6. y = c1 (x − 1)−3 + c2 (x − 1)−4 = c1 x + c2 x√ln |x| √ = c1 |x|(−5+ 29)/2 + c2 |x|(−5− 29)/2 √ √ 8. y = c1 |x|3/2 cos( 21 3 ln |x|) + c2 |x|3/2 sin( 21 3 ln |x|)
1. 3. 4. 5. 7.
y y y y y
9. y = c1 x 3 + c2 x 3 ln |x|
17, 21, 21a, 22, 25, 31
y = c1 (x − 2)−2 cos(2 ln |x − 2|) + c2 (x − 2)−2 sin(2 ln |x − 2|) √ √ y = c1 |x|−1/2 cos( 21 15 ln |x|) + c2 |x|−1/2 sin( 12 15 ln |x|) 13. y = 2x 3/2 − x −1 y = c1 x + c2 x 4 −1/2 −1/2 y = 2x cos(2 ln x) − x sin(2 ln x) 15. y = 2x 2 − 7x 2 ln |x| −1 y = x cos(2 ln x) 17. α < 1 β>0 19. γ = 2 α>1 (a) α < 1 and β > 0 (b) α < 1 and β ≥ 0, or α = 1 and β > 0 (c) α > 1 and β > 0 (d) α > 1 and β ≥ 0, or α = 1 and β > 0 (e) α = 1 and β > 0 24. y = c1 x −1 + c2 x 2 25. y = c1 x 2 + c2 x 2 ln x + 14 ln x + −1 −5 1 26. y = c1 x + c2 x + 12 x 10. 11. 12. 14. 16. 18. 20. 21.
27. y = c1 x + c2 x 2 + 3x 2 ln x + ln x +
3 2 1 3
28. y = c1 cos(2 ln x) + c2 sin(2 ln x) + sin(ln x)
29. y = c1 x −3/2 cos( 32 ln x) + c2 x −3/2 sin( 32 ln x) 31. x > 0 : c1 = k1 , c2 = k2 ; x < 0 : c1 (−1)r1 = k1 , c2 = k2
1 4
700
Answers to Problems
Section 5.6, page 271 1. r (2r − 1) = 0;
an = −
an−2 (n + r )[2(n + r ) − 1]
;
r1 = 12 , r2 = 0
x2 x4 x6 + − + ··· 2 · 5 2 · 4 · 5 · 9 2 · 4 · 6 · 5 · 9 · 13 (−1)n x 2n + ··· + n 2 n!5 · 9 · 13 · · · (4n + 1)
y1 (x) = x 1/2 1 −
x2 x4 x6 + − + ··· 2 · 3 2 · 4 · 3 · 7 2 · 4 · 6 · 3 · 7 · 11 n 2n (−1) x + ··· + n 2 n!3 · 7 · 11 · · · (4n − 1) an−2 2. r 2 − 19 = 0; an = − ; r1 = 13 , r2 = − 31 (n + r )2 − 19 x 2 x 4 1 1 1/3 1− y1 (x) = x + + ··· 1!(1 + 13 ) 2 2!(1 + 13 )(2 + 13 ) 2 x 2m (−1)m + + ··· m!(1 + 13 )(2 + 13 ) · · · (m + 13 ) 2 x 2 x 4 1 1 + + ··· y2 (x) = x −1/3 1 − 1 1 1 1!(1 − 3 ) 2 2!(1 − 3 )(2 − 3 ) 2 x 2m (−1)m + + ··· m!(1 − 13 )(2 − 13 ) · · · (m − 13 ) 2 y2 (x) = 1 −
See SSM for detailed solutions to 2
4
Hint: Let n = 2m in the recurrence relation, m = 1, 2, 3, . . . . an−1 3. r (r − 1) = 0; an = − ; r1 = 1, r2 = 0 (n + r )(n + r − 1) x x2 (−1)n n y1 (x) = x 1 − + + ···+ x + ··· 1!2! 2!3! n!(n + 1)! an−1 ; r1 = r2 = 0 4. r 2 = 0; an = (n + r )2 x x2 xn + + ···+ + ··· y1 (x) = 1 + 2 2 (1!) (2!) (n!)2 an−2 5. r (3r − 1) = 0; an = − ; r1 = 13 , r2 = 0 (n + r )[3(n + r ) − 1] 2 x2 1 x2 1 1/3 + ··· + y1 (x) = x 1− 1!7 2 2!7 · 13 2 m (−1)m x2 + + ··· m!7 · 13 · · · (6m + 1) 2 2 m x2 1 x2 x2 1 (−1)m + y2 (x) = 1 − + ···+ + ··· 1!5 2 2!5 · 11 2 m!5 · 11 · · · (6m − 1) 2 Hint: Let n = 2m in the recurrence relation, m = 1, 2, 3, . . . .
701
Answers to Problems
6. r 2 − 2 = 0; y1 (x) = x
√
2
an = −
an−1
;
r1 =
√
√ 2, r2 = − 2
(n + r ) − 2 x2 x 1− √ + √ √ + ··· 1(1 + 2 2) 2!(1 + 2 2)(2 + 2 2) 2
(−1)n n + √ √ √ x + ··· n!(1 + 2 2)(2 + 2 2) · · · (n + 2 2) √ x x2 − 2 y2 (x) = x 1− √ + √ √ + ··· 1(1 − 2 2) 2!(1 − 2 2)(2 − 2 2)
(−1)n √ √ xn + · · · n!(1 − 2 2)(2 − 2 2) · · · (n − 2 2) (n + r )an = an−1 ; r1 = r2 = 0 +
7. r 2 = 0;
√
x2 x3 xn + + ··· + + · · · = ex 2! 3! n! 8. 2r 2 + r − 1 = 0; (2n + 2r − 1)(n + r + 1)an + 2an−2 = 0; r1 = 12 , r2 = −1 x2 x4 (−1)m x 2m 1/2 1− y1 (x) = x + − ···+ + ··· 7 2!7 · 11 m!7 · 11 · · · (4m + 3) x4 (−1)m x 2m −1 2 y2 (x) = x 1−x + − ···+ + ··· 2!5 m!5 · 9 · · · (4m − 3) y1 (x) = 1 + x +
9. r 2 − 4r + 3= 0; y1 (x) = x 3 10. r 2 − r +
1 4
(n + r − 3)(n + r − 1)an − (n + r − 2)an−1 = 0; r1 = 3, r2 = 1 2 n 2 x 2x 1+ x + + ··· + + ··· 3 4 n!(n + 2)
= 0;
(n + r − 12 )2 an + an−2 = 0;
r1 = r2 = 1/2
x2 x4 (−1)m x 2m + 2 2 − · · · + 2m + ··· 2 2 2 4 2 (m!)2 11. r 2 = 0; r1 = 0, r2 = 0 α(α + 1) α(α + 1)[1 · 2 − α(α + 1)] y1 (x) = 1 + (x − 1) − (x − 1)2 + · · · 2 2·1 (2 · 12 )(2 · 22 ) y1 (x) = x 1/2 1 −
See SSM for detailed solutions to 11
α(α + 1)[1 · 2 − α(α + 1)] · · · [n(n − 1) − α(α + 1)] (x − 1)n + · · · 2n (n!)2 12. (a) r1 = 12 , r2 = 0 at both x = ±1 (b) y1 (x) = |x − 1|1/2 ∞ (−1)n (1 + 2α) · · · (2n − 1 + 2α)(1 − 2α) · · · (2n − 1 − 2α) × 1+ (x − 1)n 2n (2n + 1)! n=1 + (−1)n+1
14
y2 (x) = 1 +
∞ (−1)n α(1 + α) · · · (n − 1 + α)(−α)(1 − α) · · · (n − 1 − α) n=1
13. r 2 = 0;
15 16ab
r1 = 0,
n!1 · 3 · 5 · · · (2n − 1) (n − 1 − λ)an−1
(x − 1)n
r2 = 0; an = n2 −λ (−λ)(1 − λ) 2 (−λ)(1 − λ) · · · (n − 1 − λ) n y1 (x) = 1 + x+ x + ···+ x + ··· 2 2 (1!) (2!) (n!)2 For λ = n, the coefficients of all terms past x n are zero. 16. (b) [(n − 1)2 − 1]bn = −bn−2 , and it is impossible to determine b2 .
702
Answers to Problems
Section 5.7, page 278
See SSM for detailed solutions to 1, 3, 9
1. x = 0; r (r − 1) = 0; r1 = 1, r2 = 0 2. x = 0; r 2 − 3r + 2 = 0; r1 = 2, r2 = 1 3. x = 0; r (r − 1) = 0; r1 = 1, r2 = 0 x = 1; r (r + 5) = 0; r1 = 0, r2 = −5 4. None √ √ 5. x = 0; r 2 + 2r − 2 = 0; r1 = −1 + 3 ∼ = 0.732, r2 = −1 − 3 ∼ = −2.73 6. x = 0; r (r − 34 ) = 0; r1 = 34 , r2 = 0 x = −2; r (r − 54 ) = 0; r1 = 54 , r2 = 0 7. x = 0; r 2 + 1 = 0; r1 = i, r2 = −i √ √ 8. x = −1; r 2 − 7r + 3 = 0; r1 = (7 + 37)/2 ∼ = 6.54, r2 = (7 − 37)/2 ∼ = 0.459 9. x = 1; r 2 + r = 0; r1 = 0, r2 = −1 10. x = −2; r 2 − (5/4)r = 0; r1 = 5/4, r2 = 0 11. x = 2; r 2 − 2r = 0; r1 = 2, r2 = 0 x = −2; r 2 − 2r = 0; r1 = 2, r2 = 0 0 12. x = 0; r 2 − (5/3)r = 0; r1 = 5/3, r2 =√ x = −3; √r 2 − (r/3) − 1 = 0; r1 = (1 + 37)/6 ∼ = 1.18, r2 = (1 − 37)/6 ∼ −0.847 = 13. (b) r1 = 0, r2 = 0 1 3 x + ··· (c) y1 (x) = 1 + x + 14 x 2 + 36 11 3 x + ··· y2 (x) = y1 (x) ln x − 2x − 34 x 2 − 108 14. (b) r1 = 1, r2 = 0 x 3 − 47 x4 + · · · (c) y1 (x) = x − 4x 2 + 17 3 12 y2 (x) = −6y1 (x) ln x + 1 − 33x 2 + 15. (b) r1 = 1, r2 = 0 (c) y1 (x) = x + 32 x 2 + 94 x 3 +
51 4 x 16 21 2 x 4
y2 (x) = 3y1 (x) ln x + 1 − 16. (b) r1 = 1, r2 = 0 1 3 x − (c) y1 (x) = x − 12 x 2 + 12
17abc
18 20abc, 21bd
449 3 x 6
+ ···
+ ··· −
19 3 x 4
+ ···
1 4 x + ··· 144 3 2 7 3 35 4 x + 36 x − 1728 x 4
y2 (x) = −y1 (x) ln x + 1 − 17. (b) r1 = 1, r2 = −1 1 3 1 5 x + 720 x + ··· (c) y1 (x) = x − 24
+ ···
1 3 x + ··· y2 (x) = − 13 y1 (x) ln x + x −1 − 90 1 18. r1 = 2 , r2 = 0 53 (x − 1)2 + · · ·], ρ = 1 y1 (x) = (x − 1)1/2 [1 − 34 (x − 1) + 480 19. (c) Hint: (n − 1)(n − 2) + (1 + α + β)(n − 1) + αβ = (n − 1 + α)(n − 1 + β) (d) Hint: (n − γ )(n − 1 − γ ) + (1 + α + β)(n − γ ) + αβ = (n − γ + α)(n − γ + β)
Section 5.8, page 289
1
2
1. y1 (x) =
∞ (−1)n x n n!(n + 1)! n=0
∞ Hn + Hn−1 1 n n 1− y2 (x) = −y1 (x) ln x + (−1) x x n!(n − 1)! n=1 ∞ ∞ (−1)n Hn n (−1)n x n 1 2 2. y1 (x) = , y (x) = y (x) ln x − x 2 1 x n=0 (n!)2 x n=1 (n!)2
703
Answers to Problems
3. y1 (x) =
See SSM for detailed solutions to 3, 4, 5
6
n
xn
1. Piecewise continuous 4. Piecewise continuous
9. 11. 13. 15. 17. 19.
25, 27abcd
∞ (−1)n 2n H
Section 6.1, page 298
7.
13, 16, 19, 21
y2 (x) = y1 (x) ln x − 2
Hint: Let n = 2m in the recurrence relation, m = 1, 2, 3, . . . . For r = − 32 , a1 = 0 and a3 is arbitrary.
13, 14
1, 2, 5b, 6, 9
xn,
2 (n!)2 n=0 (n!) n=1 ∞ n 1 (−1) 4. y1 (x) = xn x n=0 n!(n + 1)! ∞ Hn + Hn−1 1 n n y2 (x) = −y1 (x) ln x + 2 1 − (−1) x n!(n − 1)! x n=1 ∞ x 2m (−1)m 3/2 1+ 5. y1 (x) = x 3 3 3 2 m=1 m!(1 + 2 )(2 + 2 ) · · · (m + 2 ) ∞ x 2m (−1)m −3/2 y2 (x) = x 1+ 3 3 3 2 m=1 m!(1 − 2 )(2 − 2 ) · · · (m − 2 )
7, 12
C H A P T E R
∞ (−1)n 2n
21. 23. 26.
2. Neither 3. Continuous 5. (a) 1/s 2 , s > 0 6. s/(s 2 + a 2 ), (b) 2/s 3 , s > 0 (c) n!/s n+1 , s > 0 b s , s > |b| 8. 2 , s > |b| s 2 − b2 s − b2 s−a b , s − a > |b| 10. , s − a > |b| (s − a)2 − b2 (s − a)2 − b2 b s , s>0 12. 2 , s>0 s 2 + b2 s + b2 s−a b , s>a 14. , s>a (s − a)2 + b2 (s − a)2 + b2 1 2as , s>a 16. , s>0 2 2 (s − a) (s + a 2 )2 n! s 2 + a2 , s > |a| 18. , s>a (s − a)2 (s + a)2 (s − a)n+1 2a(3s 2 + a 2 ) 2a(3s 2 − a 2 ) , s > 0 20. , s > |a| (s 2 + a 2 )3 (s 2 − a 2 )3 Converges 22. Converges Diverges 24. √ √ Converges (d) (3/2) = π /2; (11/2) = 945 π /32
Section 6.2, page 307
2, 4, 7
11, 14, 15
1. 32 sin 2t 3. 25 et − 25 e−4t 5. 2e−t cos 2t 7. 2et cos t + 3et sin t 9. −2e−2t cos t + 5e−2t sin t 11. y = 15 (e3t + 4e−2t ) 13. y = et sin t √ √ √ 15. y = 2et cosh 3 t − (2/ 3)et sinh 3 t
2. 4. 6. 8. 10.
2t 2 et 9 3t e + 65 e−2t 5 2 cosh 2t − 32 sinh 2t 3 − 2 sin 2t + 5 cos 2t 2e−t cos 3t − 53 e−t sin 3t
12. y = 2e−t − e−2t 14. y = e2t − te2t 16. y = 2e−t cos 2t + 12 e−t sin 2t
s>0
704
Answers to Problems
y y y y
2 t 2 3 t = tet − 18. y = cosh t √t e + 3 t e = cos 2 t = (ω2 − 4)−1 [(ω2 − 5) cos ωt + cos 2t] = 15 (cos t − 2 sin t + 4et cos t − 2et sin t)
See SSM for detailed solutions to 17, 20, 22, 24
17. 19. 20. 21.
27b, 30, 32
22. y = 15 (e−t − et cos t + 7et sin t) s 1 − e−π s 24. Y (s) = 2 + s + 4 s(s 2 + 4) 26. Y (s) = (1 − e−s )/s 2 (s 2 + 4) 30. 2b(3s 2 − b2 )/(s 2 + b2 )3 32. n!/(s − a)n+1 34. [(s − a)2 − b2 ]/[(s − a)2 + b2 ]2
36a, 38ab
36. (a) Y + s 2 Y = s
23. y = 2e−t + te−t + 2t 2 e−t 1 e−s (s + 1) 25. Y (s) = 2 2 − 2 2 s (s + 1) s (s + 1) 29. 1/(s − a)2 31. n!/s n+1 33. 2b(s − a)/[(s − a)2 + b2 ]2
(b) s 2 Y + 2sY − [s 2 + α(α + 1)]Y = −1
Section 6.3, page 314
2, 4, 8
7. F(s) = 2e−s /s 3 e−π s e−2π s 9. F(s) = 2 − 2 (1 + π s) s s 11. F(s) = s −2 [(1 − s)e−2s − (1 + s)e−3s ]
8. F(s) = e−s (s 2 + 2)/s 3 1 10. F(s) = (e−s + 2e−3s − 6e−4s ) s 12. F(s) = (1 − e−s )/s 2
14, 21, 22, 27
13. f (t) = t 3 e2t
14. f (t) = 13 u 2 (t)[et−2 − e−2(t−2) ]
15. f (t) = 2u 2 (t)et−2 cos(t − 2) 17. f (t) = u 1 (t)e2(t−1) cosh(t − 1) 20. f (t) = 2(2t)n
16. f (t) = u 2 (t) sinh 2(t − 2) 18. f (t) = u 1 (t) + u 2 (t) − u 3 (t) − u 4 (t) 21. f (t) = 12 e−t/2 cos t
28, 30
23. f (t) = 12 et/2 u 2 (t/2) 22. f (t) = 16 et/3 (e2t/3 − 1) −1 −s 24. F(s) = s (1 − e ), s > 0 25. F(s) = s −1 (1 − e−s + e−2s − e−3s ), s > 0 1 − e−(2n+2)s 1 26. F(s) = [1 − e−s + · · · + e−2ns − e−(2n+1)s ] = , s>0 s s(1 + e−s ) ∞ 1/s 1 (−1)n e−ns = , s>0 27. F(s) = s n=0 1 + e−s 1 − e−s 1/s , s > 0 30. L{ f (t)} = 29. L{ f (t)} = , s>0 1 + e−s s(1 + e−s ) 1 + e−π s 1 − (1 + s)e−s , s>0 32. L{ f (t)} = , s>0 31. L{ f (t)} = 2 −s s (1 − e ) (1 + s 2 )(1 − e−π s ) 1 − e−s 34. (b) L{ p(t)} = 2 33. (a) L{ f (t)} = s −1 (1 − e−s ), s > 0 , s>0 s (1 + e−s ) (b) L{g(t)} = s −2 (1 − e−s ), s > 0 (c) L{h(t)} = s −2 (1 − e−s )2 ,
s>0
Section 6.4, page 321
1
1. y = 1 − cos t + sin t − u π/2 (t)(1 − sin t) 2. y = e−t sin t + 12 u π (t)[1 + e−(t−π ) cos t + e−(t−π ) sin t] − 12 u 2π (t)[1 − e−(t−2π ) cos t − e−(t−2π ) sin t]
3
3. y = 16 [1 − u 2π (t)](2 sin t − sin 2t) 4. y = 16 (2 sin t − sin 2t) − 16 u π (t)(2 sin t + sin 2t) 5. y =
1 2
+ 12 e−2t − e−t − u 10 (t)[ 21 + 12 e−2(t−10) − e−(t−10) ]
705
Answers to Problems
See SSM for detailed solutions to 8, 10, 16bc
19abd 20, 20abc
6. 7. 8. 9. 10. 11. 12. 13. 14. 15.
y = e−t − e−2t + u 2 (t)[ 21 − e−(t−2) + 12 e−2(t−2) ] y = cos t + u 3π (t)[1 − cos(t − 3π )] 4 y = h(t) − u π/2 (t)h(t − π/2), h(t) = 25 (−4 + 5t + 4e−t/2 cos t − 3e−t/2 sin t) y = 12 sin t + 12 t − 12 u 6 (t)[t − 6 − sin(t − 6)] 4 y = h(t) + u π (t)h(t − π ), h(t) = 17 [−4 cos t + sin t + 4e−t/2 cos t + e−t/2 sin t] 1 1 y = u π (t)[ 4 − 4 cos(2t − 2π )] − u 3π (t)[ 14 − 14 cos(2t − 6π )] y = u 1 (t)h(t − 1) − u 2 (t)h(t − 2), h(t) = −1 + (cos t + cosh t)/2 y = h(t) − u π (t)h(t − π ), h(t) = (3 − 4 cos t + cos 2t)/12 f (t) = [u t (t)(t − t0 ) − u t +k (t)(t − t0 − k)](h/k) 0 0 g(t) = [u t (t)(t − t0 ) − 2u t +k (t)(t − t0 − k) + u t +2k (t)(t − t0 − 2k)](h/k) 0
0
0
16. (b) u(t) = 4ku 3/2 (t)h(t − 32 ) − 4ku 5/2 (t)h(t − 52 ), √ √ √ h(t) = 14 − ( 7/84) e−t/8 sin(3 7 t/8) − 14 e−t/8 cos(3 7 t/8) (d) k = 2.51 (e) τ = 25.6773 17. (a) k = 5 (b) y = [u 5 (t)h(t − 5) − u 5+k (t)h(t − 5 − k)]/k, h(t) = 14 t − 18 sin 2t 18. (b) f k (t) = [u 4−k (t) − u 4+k (t)]/2k; y = [u 4−k (t)h(t − 4 + k) − u 4+k (t)h(t − 4 − k)]/2k, √ √ √ h(t) = 14 − 14 e−t/6 cos( 143 t/6) − ( 143/572) e−t/6 sin( 143 t/6) n 19. (b) y = 1 − cos t + 2 (−1)k u kπ (t)[1 − cos(t − kπ )] k=1
21. (b) y = 1 − cos t +
n
(−1)k u kπ (t)[1 − cos(t − kπ )]
k=1 n
23. (a) y = 1 − cos t + 2
(−1)k u 11k/4 (t)[1 − cos(t − 11k/4)]
k=1
Section 6.5, page 328
1, 3, 5, 7
1. y = e−t cos t + e−t sin t + u π (t)e−(t−π ) sin(t − π ) 2. y = 12 u π (t) sin 2(t − π ) − 12 u 2π (t) sin 2(t − 2π )
3. y = − 12 e−2t + 12 e−t + u 5 (t)[−e−2(t−5) + e−(t−5) ] + u 10 (t)[ 12 + 12 e−2(t−10) − e−(t−10) ] 4. y = cosh(t) − 20u 3 (t) sinh(t − 3) √ √ √ 5. y = 14 sin t − 14 cos t + 14 e−t cos 2 t + (1/ 2) u 3π (t)e−(t−3π ) sin 2(t − 3π )
= 12 cos 2t + 12 u 4π (t) sin 2(t − 4π ) = sin t + u 2π (t) sin(t − 2π ) = u π/4 (t) sin 2(t − π/4) = u π/2 (t)[1 − cos(t − π/2)] + 3u 3π/2 (t) sin(t − 3π/2) − u 2π (t)[1 − cos(t − 2π )] √ √ 10. y = (1/ 31) u π/6 (t) exp[− 14 (t − π/6)] sin( 31/4)(t − π/6) 6. 7. 8. 9.
10
13a, b
y y y y
11. y = 15 cos t + 25 sin t − 15 e−t cos t − 35 e−t sin t + u π/2 (t)e−(t−π/2) sin(t − π/2) 12. y = u 1 (t)[sinh(t − 1) − sin(t − 1)]/2 √ T = 8π/ 13. (a) −e−T /4 δ(t √ 15 √ − 5 − T ),−(t−1)/4 sin( 15/4)(t − 1) 14. (a) y = (4/ 15) u 1 (t)e ∼ (b) t1 ∼ y 0.71153 = 2.3613, = 1 √ √ (c) y = (8 7/21) u 1 (t)e−(t−1)/8 sin(3 7/8) (t − 1); t1 ∼ = 2.4569, y1 ∼ = 0.83351 (d) t1 = 1 + π/2 ∼ = 2.5708, y1 = 1 15. (a) k1 ∼ (b) k1 ∼ (c) k1 = 2 = 2.8108 = 2.3995 16. (a) φ(t, k) = [u 4−k (t)h(t − 4 + k) − u 4+k (t)h(t − 4 − k)]/2k, h(t) = 1 − cos t (b) u 4 (t) sin(t − 4) (c) Yes
706
Answers to Problems
17. (b) y =
See SSM for detailed solutions to 17b
19. (b) y = 20. (b) y =
21b 21. (b) y = 22. (b) y =
20 k=1 20 k=1 20 k=1 15 k=1 40 k=1
23. (b) y =
25b
24. (b) y =
u kπ (t) sin(t − kπ )
18. (b) y =
20 k=1
(−1)k+1 u kπ (t) sin(t − kπ )
u kπ/2 (t) sin(t − kπ/2) (−1)k+1 u kπ/2 (t) sin(t − kπ/2) u (2k−1)π (t) sin[t − (2k − 1)π ] (−1)k+1 u 11k/4 (t) sin(t − 11k/4)
√20 399 √20 399
20 k=1 15 k=1
√ (−1)k+1 u kπ (t)e−(t−kπ )/20 sin[ 399(t − kπ )/20] √ u (2k−1)π (t)e−[t−(2k−1)π ]/20 sin{ 399[t − (2k − 1)π ]/20}
Section 6.6, page 335 3. sin t ∗ sin t = 12 (sin t − t cos t) is negative when t = 2π , for example.
1c 4
4. F(s) = 2/s 2 (s 2 + 4) 2 6. F(s) = 1/s (s − 1) 8. f (t) =
8, 13, 15, 17
1 6
t
t 1 0
5. F(s) = 1/(s + 1)(s 2 + 1) 7. F(s) = s/(s 2 + 1)2
(t − τ )3 sin τ dτ
9. f (t) =
t
t 0
e−(t−τ ) cos 2τ dτ
(t − τ )e−(t−τ ) sin 2τ dτ 11. f (t) = sin(t − τ )g(τ ) dτ 10. f (t) = 2 0 t 0−(t−τ ) 1 1t sin ω(t − τ )g(τ ) dτ 13. y = e sin(t − τ ) sin ατ dτ 12. y = sin ωt + 0 ω ω 0 t 14. y = 18 e−(t−τ )/2 sin 2(t − τ )g(τ ) dτ 0
15. y = e−t/2 cos t − 12 e−t/2 sin t + 16. y = 2e
−2t
+ te
−2t
+
17. y = 2e−t − e−2t + 18. y = 19. y =
t 1 2 4 3
0
t
t0 0
t
(t − τ )e
e−(t−τ )/2 0 −2(t−τ )
sin(t − τ )[1 − u π (τ )] dτ
g(τ ) dτ
[e−(t−τ ) − e−2(t−τ ) ] cos ατ dτ
[sinh(t − τ ) − sin(t − τ )]g(τ ) dτ
cos t − 13 cos 2t +
1 6
t 0
[2 sin(t − τ ) − sin 2(t − τ )]g(τ ) dτ
F(s) 1 + K (s) 21. (c) φ(t) = 13 (4 sin 2t − 2 sin t) 20. (s) =
20
C H A P T E R
2, 4, 5
7
(d) u(t) = 13 (2 sin t − sin 2t)
Section 7.1, page 344 1. 2. 3. 4. 5. 6.
x1 x1 x1 x1 x1 y1 y3
= = = = = = =
x2 , x2 , x2 , x2 , x2 , y2 , y4 ,
x2 x2 x2 x2 x2 y2 y4
= −2x1 − 0.5x2 = −2x1 − 0.5x2 + 3 sin t = −(1 − 0.25t −2 )x1 − t −1 x2 = x3 , x3 = x4 , x4 = x1 = −q(t)x1 − p(t)x2 + g(t); x1 (0) = u 0 , x2 (0) = u 0 = −(k1 + k2 )y1 /m 1 + k2 y3 /m 1 + F1 (t)/m 1 , = k2 y1 /m 2 − (k2 + k3 )y3 /m 2 + F2 (t)/m 2
707
Answers to Problems
See SSM for detailed solutions to 8, 9
12, 14, 19
21abc
7. (a) x1 = c1 e−t + c2 e−3t , x2 = c1 e−t − c2 e−3t (b) c1 = 5/2, c2 = −1/2 in solution in (a) (c) Graph approaches origin in the first quadrant tangent to the line x1 = x2 . e2t − 23 e−t , x2 = 11 e2t − 43 e−t 8. x1 = 11 3 6 Graph is asymptotic to the line x1 = 2x2 in the first quadrant. 9. x1 = − 32 et/2 − 12 e2t , x2 = 32 et/2 − 12 e2t Graph is asymptotic to the line x1 = x2 in the third quadrant. 10. x1 = −7e−t + 6e−2t , x2 = −7e−t + 9e−2t Graph approaches the origin in the third quadrant tangent to the line x1 = x2 . 11. x1 = 3 cos 2t + 4 sin 2t, x2 = −3 sin 2t + 4 cos 2t Graph is a circle, center at origin, radius 5, traversed clockwise. 12. x1 = −2e−t/2 cos 2t + 2e−t/2 sin 2t, x2 = 2e−t/2 cos 2t + 2e−t/2 sin 2t Graph is a clockwise spiral, approaching the origin. 13. L RC I + L I + R I = 0 1 3 Q 1 + 40 Q 2 , Q 1 (0) = 25 21. (a) Q 1 = 32 − 10 Q 2 = 3 +
(b) (c) 22. (a)
1 Q − 15 Q 2 , Q 2 (0) = 15 10 1 Q 1E = 42, Q 2E = 36 1 3 x1 + 40 x2 , x1 (0) = −17 x1 = − 10 1 1 x2 = 10 x1 − 5 x2 , x2 (0) = −21 1 1 Q 1 = 3q1 − 15 Q 1 + 100 Q 2 , Q 1 (0) = Q 01 1 3 Q 2 = q2 + 30 Q 1 − 100 Q 2 , Q 2 (0) = Q 02 Q 1E = 6(9q1 + q2 ), Q 2E = 20(3q1 + 2q2 )
(b) (c) No ≤ Q 2E /Q 1E ≤ (d) 10 9
20 3
Section 7.2, page 355
1ac
1.
2.
3. 4. 5.
6 −6 3 −15 6 −12 (a) 5 9 −2 (b) 7 −18 −1 2 3 8 −26 −3 −5 6 −12 3 −8 −9 11 (c) 4 3 7 (d) 14 12 −5 9 12 0 5 −8 5 1−i −7 + 2i 3 + 4i 6i (a) (b) −1 + 2i 2 + 3i 11 + 6i 6 − 5i −3 + 5i 7 + 5i 8 + 7i 4 − 4i (c) (d) 2+i 7 + 2i 6 − 4i −4 −1 4 0 1 3 −2 −2 1 2 (a) 1 0 1 (c), (d) 3 −1 0 −1 (b) 2 −1 5 −4 1 3 −1 0 2 −3 1 3 − 2i 2−i 3 + 2i 1−i 3 + 2i 2+i (a) (b) (c) 1+i −2 + 3i 2+i −2 − 3i 1−i −2 − 3i 10 6 −4 0 4 10 4 4 6
708
Answers to Problems
See SSM for detailed solutions to 6, 10
8. (a) 4i 3 11 2 11
10.
12
1 12. −3 2
−3 17 −12
−11 20 3
7 6. (a) 11 −4
(b) 12 − 8i
5 (b) 2 −1 (c) 2 + 2i
4 − 11
0 7 1
(d) 16 11.
1 11
1 6 − 12
13.
1 3 1 3 − 13
1 2
14
14. Singular 16.
1 1 18. 1 0
22, 25
3 10 4 10 1 − 10
1 10 2 − 10 7 − 10
1 0 1 1
7et 21. (a) −et 8et 2e2t (b) 4e2t −2e2t t e (c) 2et −et
0 1 1 0
1 10 2 − 10 3 10
1 1 1 1
5e−t 7e−t 0
1 12 1 4
2 −1 0
−3 3 −1
−1 6 4 (c) 9 4 −5
15. 0 0
−11 6 5
1 3 1 −3
0
0
1 3 1 3
− 14 1 2
0
1 8 − 41 1 2
17. Singular 19.
10e2t 2t 2e −e2t
−8 15 −1
6 5 0 −2
13 5 11 5 − 15 − 45
− 85 − 65 1 5 4 5
2 5 4 5 1 5 1 −5
1 + 4e−2t − et 3e3t + 2et − e4t 2 + 2e−2t + et 6e3t + et + e4t −1 + 6e−2t − 2et −3e3t + 3et − 2e4t 1 (e + 1) 1 2e−1 2e2t 2 (d) (e − 1) 2 −2e2t e−1 − 12 (e + 1) 2t 4e e+1 −1 3e−1
− 2 + 3e3t − 1 − 3e3t − 3 + 6e3t −2e−t −e−t −3e−t
Section 7.3, page 366
1 2, 3 6, 8
14 15
x1 = − 13 , x2 = 73 , x3 = − 13 2. No solution x1 = −c, x2 = c + 1, x3 = c, where c is arbitrary x1 = c, x2 = −c, x3 = −c, where c is arbitrary 6. Linearly independent x1 = 0, x2 = 0, x3 = 0 x(1) − 5x(2) + 2x(3) = 0 8. 2x(1) − 3x(2) + 4x(3) − x(4) = 0 Linearly independent 10. x(1) + x(2) − x(4) = 0 + x(3) (t) = 0 3x(1) (t) − 6x(2) (t) 13. Linearly independent 1 1 15. λ1 = 2, x(1) = ; λ = 4, x(2) = 3 2 1 1 1 (1) ; λ2 = 1 − 2i, x(2) = 16. λ1 = 1 + 2i, x = 1−i 1+i 1 1 17. λ1 = −3, x(1) = ; λ2 = −1, x(2) = −1 1 1. 3. 4. 5. 7. 9. 12.
709
Answers to Problems
See SSM for detailed solutions to 18, 21
19. λ1 20. λ1 21. λ1
22. λ1
23. λ1
24 27
1 1 ; λ2 = 2, x(2) = i −i √ 1 3 √ ; λ2 = −2, x(2) = = 2, x(1) = − 3 1 3 1 = −1/2, x(1) = ; λ2 = −3/2, x(2) = 10 2 2 0 0 = 1, x(1) = −3 ; λ2 = 1 + 2i, x(2) = 1 ; λ3 = 1 − 2i, x(3) = 1 2 −i i 1 −2 0 = 1, x(1) = 0 ; λ2 = 2, x(2) = 1 ; λ3 = 3, x(3) = 1 −1 0 −1 2 2 1 = 1, x(1) = −2 ; λ2 = 2, x(2) = 1 ; λ3 = −1, x(3) = 2 −1 2 −2 1 1 2 = −1, x(1) = −4 ; λ2 = −1, x(2) = 0 ; λ3 = 8, x(3) = 1 1 −1 2
18. λ1 = 0, x(1) =
24. λ1
Section 7.4, page 371
1, 2a 2bc, 6abcd
1
5 6, 7, 9
2. (c) W (t) = c exp
[ p11 (t) + p22 (t)] dt
6. (a) W (t) = t 2 (b) x(1) and x(2) are linearly independent at each point except t = 0; they are linearly independent on every interval. (c) At least must be discontinuous at t = 0. one coefficient 0 1 x (d) x = −2t −2 2t −1 t 7. (a) W (t) = t (t − 2)e (b) x(1) and x(2) are linearly independent at each point except t = 0 and t = 2; they are linearly independent on every interval. (c) There must be at least one discontinuous coefficient at t = 0 and t = 2. 0 1 t2 − 2 x (d) x = 2 − 2t 2 t − 2t t 2 − 2t Section 7.5, page 381 1 −t 2 2t 1. x = c1 e + c2 e 2 1 1 t 1 −t e + c2 e 3. x = c1 1 3 1 −3t 1 −t 5. x = c1 e + c2 e −1 1 3 1 −2t + c2 e 7. x = c1 4 2 1 1 2t 9. x = c1 + c2 e i −i
1 −t 2 −2t e + c2 e 1 3 1 −3t 1 2t e + c2 e 4. x = c1 −4 1 1 t/2 1 2t 6. x = c1 e + c2 e −1 1 −2 −3 t + c2 e 8. x = c1 1 1 2+i t 1 −it 10. x = c1 e + c2 e −1 −1 2. x = c1
710
Answers to Problems
11.
12.
13.
14.
15.
See SSM for detailed solutions to 16
17.
20, 25
20. 22.
1 1 1 4t t x = c1 1 e + c2 −2 e + c3 0 e−t 1 1 −1 1 1 2 x = c1 −4 e−t + c2 0 e−t + c3 1 e8t 1 −1 2 4 3 0 x = c1 −5 e−2t + c2 −4 e−t + c3 1 e2t −7 −2 −1 1 1 1 x = c1 −4 et + c2 −1 e−2t + c3 2 e3t −1 −1 1 3 1 2t 7 1 4t 1 1 −t 1 1 3t x=− 16. x = e + e e + e 2 3 2 1 2 1 2 5 0 1 1 1 2 t 2t t −t x = −2 e + 2 1 e 18. x = 6 2 e + 3 −2 e − 1 e4t 1 0 −1 1 −8 1 1 −1 1 2 1 4 t + c2 t t + c2 t x = c1 21. x = c1 1 3 3 1 3 1 −2 1 −1 2 2 + c2 t t + c2 t x = c1 23. x = c1 4 2 2 1
29. (a) x1 = x2 ,
31c
x2 = −(c/a)x1 − (b/a)x2 55 3 −t/20 29 1 −t/4 30. (a) x = − + e e 8 2 8 −2 (c) T ∼ = 74.39 √ √ − 2 (−2+√2)t/2 2 (−2−√2)t/2 31. (a) x = c1 + c2 ; e e 1 1 √ r1,2 = (−2 ± 2)/2; node √ √ √ −1 1 (b) x = c1 √ e(−1+ 2)t + c2 √ e(−1− 2)t ; r1,2 = −1 ± 2; saddle point 2 2 √ (c) r1,2 = −1 ± α; α = 1 R1 2 1 4 1 −2t 1 −t I e + c2 e 32. (a) = c1 33. (a) − − >0 3 1 V C R2 L CL Section 7.6, page 390
1
cos 2t sin 2t + c2 et cos 2t + sin 2t − cos 2t + sin 2t 2 cos 2t −2 sin 2t + c2 e−t 2. x = c1 e−t sin 2t cos 2t 5 cos t 5 sin t 3. x = c1 + c2 2 cos t + sin t − cos t + 2 sin t 1. x = c1 et
711
Answers to Problems
5 cos 32 t 5 sin 32 t + c2 et/2 3 3 3 3 3(cos 2 t + sin 2 t) 3(− cos 2 t + sin 2 t) cos t sin t x = c1 e−t + c2 e−t 2 cos t + sin t − cos t + 2 sin t −2 cos 3t −2 sin 3t x = c1 + c2 cos 3t + 3 sin 3t sin 3t − 3 cos 3t 2 0 0 t t t x = c1 −3 e + c2 e cos 2t + c3 e sin 2t 2 sin 2t − cos 2t √ √ 2t − 2 sin 2 √ x = c1 −2 e−2t + c2 e−t 2t √ cos √ √ 1 − cos 2 t − 2 sin 2 t √ √ 2 cos √ 2t −t + c3 e sin 2 t √ √ √ 2 cos 2 t − sin 2 t cos t − 3 sin t cos t − 5 sin t x = e−t 10. x = e−2t cos t − sin t −2 cos t − 3 sin t (a) r = − 14 ± i 12. (a) r = 15 ± i (a) r = α ± i (b) α = 0 √ √ (a) r = (α√± α 2 − 20)/2 (b) α = − 20, 0, 20 (a) r = ± 4 − (b) α = 4/5 √ 5α (a) r = 54 ± 12 3α (b) α = 0, 25/12 √ (a) r = −1 ± √ −α (b) α = −1, 0 (b) α = 2, 49/24 (a) r = − 12 ± 12 49 − 24α √ √ (b) α = −4 − 2 10, −4 + 2 10, 5/2 (a) r = 12 α − 2 ± α 2 + 8α − 24 √ (b) α = −25/8, −3 (a) r = −1 ± 25 + 8α √ √ 2 ln t) ln t) cos( √ √sin( 2√ + c2 t −1 x = c1 t −1 √ 2 sin( 2 ln t) − 2 cos( 2 ln t) 5 cos(ln t) 5 sin(ln t) x = c1 + c2 2 cos(ln t) + sin(ln t) − cos(ln t) + 2 sin(ln t) (a) r = − 14 ± i, − 41
4. x = c1 et/2 5. 6.
See SSM for detailed solutions to 7, 9
7.
8.
9.
11ad, 15ab
16abc, 18abc
11. 13. 14. 15. 16. 17. 18. 19. 20.
21, 23abc, 29a
21. 22. 23.
1 24. (a) r=− 14 ± i, 10 cos(t/2) sin(t/2) I −t/2 −t/2 + c2 e 25. (b) = c1 e 4 sin(t/2) −4 cos(t/2) V
(c) Use c1 = 2,
29bce
c2 = − 34 in answer to part (b).
(d) lim I (t) = lim V (t) = 0; no t→∞ t→∞ cos t sin t I −t −t + c2 e 26. (b) = c1 e − cos t − sin t − sin t + cos t V (c) Use c1 = 2 and c2 = 3 in answer to part (b). (d) lim I (t) = lim V (t) = 0; no t→∞ √ t→∞ (d) |r | is the natural frequency. 28. (b) r = ±i k/m 29. (a) y1 = y2 , y2√= −2y1 + y3 , y3 = y4 , y4 = y1 − 2y3 (b) r = ±i, ± 3 i (c) y1 = y3 = sin t + √2 cos t, y2 = √ y4 = −2 sin t + cos t√ √ √ √ (d) y1 = −y3 = sin 3 t + 2 cos 3 t, y2 = −y4 = −2 3 sin 3 t + 3 cos 3 t
712
Answers to Problems
Section 7.7, page 400
1.
See SSM for detailed solutions to 2, 4
2.
3.
4. 5.
6, 10
6. 7. 8.
9.
10.
11
11.
2 −t − 13 e−t + 43 e2t e − 23 e2t 3 ⌽(t) = 4 −t − 23 e−t + 23 e2t e − 13 e2t 3 1 −t/2 e + 12 e−t e−t/2 − e−t 2 ⌽(t) = 1 −t/2 1 −t 1 −t/2 1 −t e − 4e e + 2e 4 2 3 t e − 12 e−t − 12 et + 12 e−t 2 ⌽(t) = 3 t 3 −t e − 2e − 12 et + 32 e−t 2 1 −3t e + 45 e2t − 15 e−3t + 15 e2t 5 ⌽(t) = 4 −3t − 45 e−3t + 45 e2t e + 15 e2t 5 cos t + 2 sin t −5 sin t ⌽(t) = sin t cos t − 2 sin t −t e cos 2t −2e−t sin 2t ⌽(t) = 1 −t −t e sin 2t e cos 2t 2 1 2t e − 12 e4t − 12 e2t + 32 e4t 2 ⌽(t) = 3 2t − 32 e2t + 32 e4t e − 12 e4t 2 −t e−t sin t e cos t + 2e−t sin t ⌽(t) = 5e−t sin t e−t cos t − 2e−t sin t −e−2t + e−t −e−2t + e−t −2e−2t + 3e−t 1 2t 5 −2t ⌽(t) = 25 e−2t − 4e−t + 32 e2t 45 e−2t − 43 e−t + 13 e2t e − 43 e−t + 12 e 12 4 −t 7 −2t 3 2t 2 −t 13 2t 2 −t 1 2t 7 −2t 7 −2t e − 2e − e e − e − e e − e − e 2 2 4 3 12 4 3 12 1 t 1 −2t 1 3t −2t 1 t 1 −2t 1 3t 1 t e + 3e + 2e −3e + 3e e − e + 2e 6 2 3t 2 t 1 −2t 1 −2t 4 t ⌽(t) = − 3 e − 3 e + e e − 3e −2et + e−2t + e3t 3 −2t 1 t 1 −2t 1 3t 1 −2t 1 t 1 3t 1 t −6e − 3e + 2e e − 3e −2e + e + 2e 3 7 1 t 3 1 −t 3 −t −2 −t 12. x = e cos 2t + e sin 2t e − e x= 1 3/2 2 1 2 3
Section 7.8, page 407
0 1 t 2 t 2 1 1 e e + c2 tet + 2. x = c1 + c2 t− 1 0 1 1 2 2 2
2 −t 2 0 −t x = c1 e + c2 te−t + e 1 1 2
0 −t/2 1 −t/2 1 −t/2 e te + c2 + 2 e x = c1 1 1 5 1 −3 0 0 x = c1 4 e−t + c2 1 e2t + c3 1 te2t + 0 e2t 1 2 −1 −1 1 1 0 x = c1 1 e2t + c2 0 e−t + c3 1 e−t 1 −1 −1
1
1. x = c1
3, 5
3. 4.
5.
6.
713
Answers to Problems
7. x =
See SSM for detailed solutions to 9 11, 12, 14
9. x =
3 + 4t −3t e 2 + 4t 3 t/2 3 1 e + tet/2 −2 2 −1
8. x =
10. x = 2
3 −t 1 e −6 te−t −1 1
1 3 + 14 t 2 −1
−1 0 0 t t 11. x = 2 e + 4 1 te + 3 0 e2t −33 −6 1 4 1 −t/2 1 2 −7t/2 12. x = + 1 e 5 e 3 1 3 −7
13. x = c1
14. x = c1
15, 17a
16. (b)
1 2 2 t t + c2 t ln t + 0 1 1
0 1 −3 1 −3 t + c2 t ln t − 1 t −3 1 1 4
1 −t/2 I 1 2 −t/2 e =− te−t/2 + e + −2 V −2 0
0 17. (b) x (t) = 1 e2t −1 0 1 (2) 2t (c) x (t) = 1 te + 1 e2t −1 0 0 1 2 (d) x(3) (t) = 1 (t 2 /2)e2t + 1 te2t + 0 e2t −1 0 3 0 1 t +2 2 (e) ⌿(t) = e2t 1 t + 1 (t /2) + t −1 −t −(t 2 /2) + 3 −3 3 2 0 1 2 T−1 = 3 −2 −2 , (f) T = 1 1 0 , −1 1 1 −1 0 3 2 1 0 J = 0 2 1 0 0 2
17bcd
17ef
(1)
714
Answers to Problems
1 0 t (2) 18. (a) x (t) = 0 e , x (t) = 2 et 2 −3 2 0 (d) x(3) (t) = 4 tet + 0 et −2 −1 1 0 2t 1 2 2t (e) ⌿(t) = et 0 2 4t or et 0 4 4t 2 −3 −2t − 1 2 −2 −2t − 1 1 −1/2 0 1 2 0 T−1 = 0 (f) T = 0 1/4 0 , 4 0 , 2 −3/2 −1 2 −2 −1 1 0 0 J = 0 1 1 0 0 1 2 3 4 λ λ λ 2λ 3λ2 4λ3 2 3 4 19. (a) J = , J = , J = 0 λ3 0 λ4 0 λ2 1 t (c) exp(Jt) = eλt 0 1 (1)
See SSM for detailed solutions to 19abc 19d
(d) x = exp(Jt)x0 1 λt 20. (c) exp(Jt) = e 0 0
0 1 0
0 t 1
1 λt 21. (c) exp(Jt) = e 0 0
Section 7.9, page 417
1, 2
1 1 t 0 1 1 t 1 −t 3 1 t− e + c2 e + tet − e + 1 2 1 3 2 1 4 3 √ 2/3 1 3 2t √ et + −1 √ e−t √ x = c1 e−2t − e + c2 1/ 3 2/ 3 − 3 1 5 cos t 1 3 1 x = 5 (2t − 2 sin 2t − 2 cos 2t + c1 ) 2 cos t + sin t 5 sin t + 15 (−t − 12 sin 2t + 32 cos 2t + c2 ) − cos t + 2 sin t 0 −2t 1 1 t 1 −3t 1 2t e + e + c2 e − e x = c1 1 −4 1 2 0 1
1 0 1 1 1 2 −1 x = c1 + c2 t− −2 ln t + t − 2 t −2 2 2 2 5 0 2 1 8 4 1 1 −2 −5t 1 −2 x = c1 ln t + + c2 e + t+ 2 2 1 1 5 2 25 1 3t 1 −t 1 1 t e + c2 e + e x = c1 2 −2 4 −8
1. x = c1 2.
3
3.
4
4. 5. 6. 7.
t 1 0
t 2 /2 t 1
715
Answers to Problems
1 t 1 1 t 1 −t e +2 tet e + c2 e + 0 1 1 3 17 1 5 1 −t/2 1 −2t 4 e e + 23 t − 15 + 61 et x = c1 + c2 1 −1 2 2 4 √ √ √ 1 1 1 2 + √ 2 −t 2− − 2 −4t √1 te−t + e − e x = c1 √ e−t + c2 1 2 3 2− 2 9 −1 − 2 5 cos t 5 sin t x = ( 12 sin2 t + c1 ) + (− 21 t − 12 sin t cos t + c2 ) 2 cos t + sin t − cos t + 2 sin t 5 cos t x = [ 15 ln(sin t) − ln(− cos t) − 25 t + c1 ] 2 cos t + sin t 5 sin t + [ 25 ln(sin t) − 45 t + c2 ] − cos t + 2 sin t sin 12 t e−t/2 sin 12 t e−t/2 cos 12 t −t/2 (a) ⌿(t) = (b) x = e 4 − 4 cos 12 t 4e−t/2 sin 12 t −4e−t/2 cos 12 t 1 1 1 4 2 1 1 −1 2 1 x = c1 t + c2 t − + t− t ln t − t 1 3 3 1 2 3 3 3 1 −2 4 1 2 3 2 2 1 −1 x = c1 t+ t + c2 t + t − 2 1 2 1 10 2 3
8. x = c1 9. 10. 11.
See SSM for detailed solutions to 12, 14
12.
13. 14. 15.
C H A P T E R
1ac, 5ac, 7ac
8
Section 8.1, page 427 1. (a) 1.1975, 1.38549, 1.56491, 1.73658 (b) 1.19631, 1.38335, 1.56200, 1.73308 (c) 1.19297, 1.37730, 1.55378, 1.72316 (d) 1.19405, 1.37925, 1.55644, 1.72638 2. (a) 1.59980, 1.29288, 1.07242, 0.930175 (b) 1.61124, 1.31361, 1.10012, 0.962552 (c) 1.64337, 1.37164, 1.17763, 1.05334 (d) 1.63301, 1.35295, 1.15267, 1.02407 3. (a) 1.2025, 1.41603, 1.64289, 1.88590 (b) 1.20388, 1.41936, 1.64896, 1.89572 (c) 1.20864, 1.43104, 1.67042, 1.93076 (d) 1.20693, 1.42683, 1.66265, 1.91802 4. (a) 1.10244, 1.21426, 1.33484, 1.46399 (b) 1.10365, 1.21656, 1.33817, 1.46832 (c) 1.10720, 1.22333, 1.34797, 1.48110 (d) 1.10603, 1.22110, 1.34473, 1.47688 5. (a) 0.509239, 0.522187, 0.539023, 0.559936 (b) 0.509701, 0.523155, 0.540550, 0.562089 (c) 0.511127, 0.526155, 0.545306, 0.568822 (d) 0.510645, 0.525138, 0.543690, 0.566529 6. (a) −0.920498, −0.857538, −0.808030, −0.770038 (b) −0.922575, −0.860923, −0.812300, −0.774965 (c) −0.928059, −0.870054, −0.824021, −0.788686 (d) −0.926341, −0.867163, −0.820279, −0.784275 7. (a) 2.90330, 7.53999, 19.4292, 50.5614 (b) 2.93506, 7.70957, 20.1081, 52.9779 (c) 3.03951, 8.28137, 22.4562, 61.5496 (d) 3.00306, 8.07933, 21.6163, 58.4462
716
See SSM for detailed solutions to 9c
15, 16
Answers to Problems
8. (a) 0.891830, 1.25225, 2.37818, 4.07257 (b) 0.908902, 1.26872, 2.39336, 4.08799 (c) 0.958565, 1.31786, 2.43924, 4.13474 (d) 0.942261, 1.30153, 2.42389, 4.11908 9. (a) 3.95713, 5.09853, 6.41548, 7.90174 (b) 3.95965, 5.10371, 6.42343, 7.91255 (c) 3.96727, 5.11932, 6.44737, 7.94512 (d) 3.96473, 5.11411, 6.43937, 7.93424 10. (a) 1.60729, 2.46830, 3.72167, 5.45963 (b) 1.60996, 2.47460, 3.73356, 5.47774 (c) 1.61792, 2.49356, 3.76940, 5.53223 (d) 1.61528, 2.48723, 3.75742, 5.51404 11. (a) −1.45865, −0.217545, 1.05715, 1.41487 (b) −1.45322, −0.180813, 1.05903, 1.41244 (c) −1.43600, −0.0681657, 1.06489, 1.40575 (d) −1.44190, −0.105737, 1.06290, 1.40789 12. (a) 0.587987, 0.791589, 1.14743, 1.70973 (b) 0.589440, 0.795758, 1.15693, 1.72955 (c) 0.593901, 0.808716, 1.18687, 1.79291 (d) 0.592396, 0.804319, 1.17664, 1.77111 15. 1.595, 2.4636
16. en+1 = [2φ( t n ) − 1]h 2 , |en+1 | ≤ 1 + 2 max |φ(t)| h 2 , 0≤t≤1
en+1 = e2t n h 2 ,
|e1 | ≤ 0.012,
17. en+1 = [2φ( t n ) − t n ]h 2 ,
19
18. 20. 21. 22.
22d, 23abc, 24 24.
25b 26.
|e4 | ≤ 0.022
|en+1 | ≤ 1 + 2 max |φ(t)| h 2 , 0≤t≤1
en+1 = 2e2t n h 2 , |e1 | ≤ 0.024, |e4 | ≤ 0.045 2 en+1 = [t n + t n φ( t n ) + φ 3 ( t n )]h 2 19. en+1 = [19 − 15t n φ −1/2 ( t n )]h 2 /4 −1/2 2 en+1 = {1 + [ t n + φ( t n )] }h /4 2 en+1 = {2 − [φ( t n ) + 2t n ] exp[−t n φ( t n )] − t n exp[−2t n φ( t n )]}h 2 /2 (a) φ(t) = 1 + (1/5π ) sin 5π t (b)√1.2, 1.0, 1.2 (c) 1.1, 1.1, 1.0, 1.0 (d) h < 1/ 50π ∼ = 0.08 en+1 = − 12 φ ( t n )h 2 25. (a) 1.55, 2.34, 3.46, 5.07 (b) 1.20, 1.39, 1.57, 1.74 (c) 1.20, 1.42, 1.65, 1.90 (a) 0 (b) 60 (c) −92.16 27. 0.224 = 0.225
Section 8.2, page 434
1a, 4
1. (a) 1.19512, (b) 1.19515, (c) 1.19516, 2. (a) 1.62283, (b) 1.62243, (c) 1.62234, 3. (a) 1.20526, (b) 1.20533, (c) 1.20534, 4. (a) 1.10483, (b) 1.10484, (c) 1.10484,
1.38120, 1.38125, 1.38126, 1.33460, 1.33386, 1.33368, 1.42273, 1.42290, 1.42294, 1.21882, 1.21884, 1.21884,
1.55909, 1.55916, 1.55918, 1.12820, 1.12718, 1.12693, 1.65511, 1.65542, 1.65550, 1.34146, 1.34147, 1.34147,
1.72956 1.72965 1.72967 0.995445 0.994215 0.993921 1.90570 1.90621 1.90634 1.47263 1.47262 1.47262
Answers to Problems
See SSM for detailed solutions to 10, 11
14abc, 15
19, 24
5. (a) 0.510164, 0.524126, 0.542083, 0.564251 (b) 0.510168, 0.524135, 0.542100, 0.564277 (c) 0.510169, 0.524137, 0.542104, 0.564284 6. (a) −0.924650, −0.864338, −0.816642, −0.780008 (b) −0.924550, −0.864177, −0.816442, −0.779781 (c) −0.924525, −0.864138, −0.816393, −0.779725 7. (a) 2.96719, 7.88313, 20.8114, 55.5106 (b) 2.96800, 7.88755, 20.8294, 55.5758 8. (a) 0.926139, 1.28558, 2.40898, 4.10386 (b) 0.925815, 1.28525, 2.40869, 4.10359 9. (a) 3.96217, 5.10887, 6.43134, 7.92332 (b) 3.96218, 5.10889, 6.43138, 7.92337 10. (a) 1.61263, 2.48097, 3.74556, 5.49595 (b) 1.61263, 2.48092, 3.74550, 5.49589 11. (a) −1.44768, −0.144478, 1.06004, 1.40960 (b) −1.44765, −0.143690, 1.06072, 1.40999 12. (a) 0.590897, 0.799950, 1.16653, 1.74969 (b) 0.590906, 0.799988, 1.16663, 1.74992 15. en+1 = (38h 3 /3) exp(4t n ), |en+1 | ≤ 37, 758.8h 3 on 0 ≤ t ≤ 2, |e1 | ≤ 0.00193389 16. en+1 = (2h 3 /3) exp(2t n ), |en+1 | ≤ 4.92604h 3 on 0 ≤ t ≤ 1, |e1 | ≤ 0.000814269 17. en+1 = (4h 3 /3) exp(2t n ), |en+1 | ≤ 9.85207h 3 on 0 ≤ t ≤ 1, |e1 | ≤ 0.00162854 ∼ 18. h = 0.071 19. h ∼ = 0.023 ∼ 20. h = 0.081 21. h ∼ = 0.117 23. 1.19512, 1.38120, 1.55909, 1.72956 24. 1.62268, 1.33435, 1.12789, 0.995130 25. 1.20526, 1.42273, 1.65511, 1.90570 26. 1.10485, 1.21886, 1.34149, 1.47264 Section 8.3, page 438
4, 11
14abc
717
1. (a) 1.19516, 1.38127, 1.55918, 1.72968 (b) 1.19516, 1.38127, 1.55918, 1.72968 2. (a) 1.62231, 1.33362, 1.12686, 0.993839 (b) 1.62230, 1.33362, 1.12685, 0.993826 3. (a) 1.20535, 1.42295, 1.65553, 1.90638 (b) 1.20535, 1.42296, 1.65553, 1.90638 4. (a) 1.10484, 1.21884, 1.34147, 1.47262 (b) 1.10484, 1.21884, 1.34147, 1.47262 5. (a) 0.510170, 0.524138, 0.542105, 0.564286 (b) 0.520169, 0.524138, 0.542105, 0.564286 6. (a) −0.924517, −0.864125, −0.816377, −0.779706 (b) −0.924517, −0.864125, −0.816377, −0.779706 7. (a) 2.96825, 7.88889, 20.8349, 55.5957 (b) 2.96828, 7.88904, 20.8355, 55.5980 8. (a) 0.925725, 1.28516, 2.40860, 4.10350 (b) 0.925711, 1.28515, 2.40860, 4.10350 9. (a) 3.96219, 5.10890, 6.43139, 7.92338 (b) 3.96219, 5.10890, 6.43139, 7.92338 10. (a) 1.61262, 2.48091, 3.74548, 5.49587 (b) 1.61262, 2.48091, 3.74548, 5.49587 11. (a) −1.44764, −0.143543, 1.06089, 1.41008 (b) −1.44764, −0.143427, 1.06095, 1.41011 12. (a) 0.590909, 0.800000, 1.166667, 1.75000 (b) 0.590909, 0.800000, 1.166667, 1.75000
718
Answers to Problems
Section 8.4, page 444
See SSM for detailed solutions to 4a 4bc, 7a 7bc
16
1. (a) 1.7296801, 1.8934697 2. (a) 0.993852, 0.925764 (b) 1.7296802, 1.8934698 (b) 0.993846, 0.925746 (c) 1.7296805, 1.8934711 (c) 0.993869, 0.925837 3. (a) 1.906382, 2.179567 4. (a) 1.4726173, 1.6126215 (b) 1.906391, 2.179582 (b) 1.4726189, 1.6126231 (c) 1.906395, 2.179611 (c) 1.4726199, 1.6126256 5. (a) 0.56428577, 0.59090918 6. (a) −0.779693, −0.753135 (b) 0.56428581, 0.59090923 (b) −0.779692, −0.753137 (c) 0.56428588, 0.59090952 (c) −0.779680, −0.753089 7. (a) 2.96828, 7.88907, 20.8356, 55.5984 (b) 2.96829, 7.88909, 20.8357, 55.5986 (c) 2.96831, 7.88926, 20.8364, 55.6015 8. (a) 0.9257133, 1.285148, 2.408595, 4.103495 (b) 0.9257124, 1.285148, 2.408595, 4.103495 (c) 0.9257248, 1.285158, 2.408594, 4.103493 9. (a) 3.962186, 5.108903, 6.431390, 7.923385 (b) 3.962186, 5.108903, 6.431390, 7.923385 (c) 3.962186, 5.108903, 6.431390, 7.923385 10. (a) 1.612622, 2.480909, 3.745479, 5.495872 (b) 1.612622, 2.480909, 3.745479, 5.495873 (c) 1.612623, 2.480905, 3.745473, 5.495869 11. (a) −1.447639, −0.1436281, 1.060946, 1.410122 (b) −1.447638, −0.1436762, 1.060913, 1.410103 (c) −1.447621, −0.1447219, 1.060717, 1.410027 12. (a) 0.5909091, 0.8000000, 1.166667, 1.750000 (b) 0.5909091, 0.8000000, 1.166667, 1.750000 (c) 0.5909092, 0.8000002, 1.166667, 1.750001 Section 8.5, page 454
2ab 2c, 4ab 4cd, 5ac
(b) φ2 (t) − φ1 (t) = 0.001et → ∞ as t → ∞ (b) φ1 (t) = ln[et /(2 − et )]; φ2 (t) = ln[1/(1 − t)] (a,b) h = 0.00025 is sufficient. (c) h = 0.005 is sufficient. (a) y = 4e−10t + (t 2 /4) (c) Runge-Kutta is stable for h = 0.25 but unstable for h = 0.3. (d) h = 5/13 ∼ = 0.384615 is small enough. 5. (a) y = t 6. (a) y = t 2 1. 2. 3. 4.
Section 8.6, page 457
2ab
1. (a) 1.26, 0.76; 1.7714, 1.4824; 2.58991, 2.3703; 3.82374, 3.60413; 5.64246, 5.38885 (b) 1.32493, 0.758933; 1.93679, 1.57919; 2.93414, 2.66099; 4.48318, 4.22639; 6.84236, 6.56452 (c) 1.32489, 0.759516; 1.9369, 1.57999; 2.93459, 2.66201; 4.48422, 4.22784; 6.8444, 6.56684 2. (a) 1.451, 1.232; 2.16133, 1.65988; 3.29292, 2.55559; 5.16361, 4.7916; 8.54951, 12.0464 (b) 1.51844, 1.28089; 2.37684, 1.87711; 3.85039, 3.44859; 6.6956, 9.50309; 15.0987, 64.074 (c) 1.51855, 1.2809; 2.3773, 1.87729; 3.85247, 3.45126; 6.71282, 9.56846; 15.6384, 70.3792
719
Answers to Problems
See SSM for detailed solutions to 7, 8 C H A P T E R
1abd, 4ab
4d, 7abd, 10ab
10d, 13, 17
18ab, 19abc 20
9
3. (a) 0.582, 1.18; 0.117969, 1.27344; −0.336912, 1.27382; −0.730007, 1.18572; −1.02134, 1.02371 (b) 0.568451, 1.15775; 0.109776, 1.22556; −0.32208, 1.20347; −0.681296, 1.10162; −0.937852, 0.937852 (c) 0.56845, 1.15775; 0.109773, 1.22557; −0.322081, 1.20347; −0.681291, 1.10161; −0.937841, 0.93784 4. (a) −0.198, 0.618; −0.378796, 0.28329; −0.51932, −0.0321025; −0.594324, −0.326801; −0.588278, −0.57545 (b) −0.196904, 0.630936; −0.372643, 0.298888; −0.501302, −0.0111429; −0.561270, −0.288943; −0.547053, −0.508303 (c) −0.196935, 0.630939; −0.372687, 0.298866; −0.501345, −0.0112184; −0.561292, −0.28907; −0.547031, −0.508427 5. (a) 2.96225, 1.34538; 2.34119, 1.67121; 1.90236, 1.97158; 1.56602, 2.23895; 1.29768, 2.46732 (b) 3.06339, 1.34858; 2.44497, 1.68638; 1.9911, 2.00036; 1.63818, 2.27981; 1.3555, 2.5175 (c) 3.06314, 1.34899; 2.44465, 1.68699; 1.99075, 2.00107; 1.63781, 2.28057; 1.35514, 2.51827 6. (a) 1.42386, 2.18957; 1.82234, 2.36791; 2.21728, 2.53329; 2.61118, 2.68763; 2.9955, 2.83354 (b) 1.41513, 2.18699; 1.81208, 2.36233; 2.20635, 2.5258; 2.59826, 2.6794; 2.97806, 2.82487 (c) 1.41513, 2.18699; 1.81209, 2.36233; 2.20635, 2.52581; 2.59826, 2.67941; 2.97806, 2.82488 7. For h = 0.05 and 0.025: x = 10.227, y = −4.9294; these results agree with the exact solution to five digits. 8. 1.543, 0.0707503; 1.14743, −1.3885 9. 1.99521, −0.662442 Section 9.1, page 468 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17.
(a) r1 = −1, (1) = (1, 2)T ; r2 = 2, (2) = (2, 1)T (b) saddle point, unstable (a) r1 = 2, (1) = (1, 3)T ; r2 = 4, (2) = (1, 1)T (b) node, unstable (a) r1 = −1, (1) = (1, 3)T ; r2 = 1, (2) = (1, 1)T (b) saddle point, unstable (1) T (a) r1 = r2 = −3, = (1, 1) (b) improper node, asymptotically stable (a) r1 , r2 = −1 ± i; (1) , (2) = (2 ± i, 1)T (b) spiral point, asymptotically stable (a) r1 , r2 = ±i; (1) , (2) = (2 ± i, 1)T (b) center, stable (a) r1 , r2 = 1 ± 2i; (1) , (2) = (1, 1 ∓ i)T (b) spiral point, unstable (a) r1 = −1, (1) = (1, 0)T ; r2 = −1/4, (2) = (4, −3)T (b) node, asymptotically stable (a) r1 = r2 = 1, (1) = (2, 1)T (b) improper node, unstable (a) r1 , r2 = ±3i; (1) , (2) = (2, −1 ± 3i)T (b) center, stable (1) (2) T T (a) r1 = r2 = −1; = (1, 0) , = (0, 1) (b) proper node, asymptotically stable (a) r1 , r2 = (1 ± 3i)/2; √(1) , (2) =√(5, 3 ∓ 3i)T (b) spiral point, unstable x0 = 1, y0 = 1; r1 = 2, r2 = − 2; saddle point, unstable x0 = −1, y0 = 0; r1 = −1, r2 = −3; node, asymptotically stable √ x0 = −2, y0 = 1; r1 , r2 = −1 ± 2 i; spiral point, asymptotically stable √ x0 = γ /δ, y0 = α/β; r1 , r2 = ± βδ i; center, stable c2 > 4km, node, asymptotically stable; c2 = 4km, improper node, asymptotically stable; c2 < 4km, spiral point, asymptotically stable
720
Answers to Problems
Section 9.2, page 477
See SSM for detailed solutions to 1, 3
7abc, 12a
1. 2. 3. 4. 5. 6. 7. 8.
9. 10. 11.
12bc, 15ab, 19a, 21a
12. 13.
23, 24, 25, 26
14. 16. 18. 20. 22.
x = 4e−t , y = 2e−2t , y = x 2 /8 x = 4e−t , y = 2e2t , y = 32x −2 ; x = 4e−t , y = 0 2 + y2 √ = 16; x = −4 sin t, y = 4 cos t, x 2 + y 2 = 16 x =√ 4 cos t, √y = 4 sin t, x√ x = a cos ab t, y = − b sin ab t; (x 2 /a) + (y 2 /b) = 1 (a, c) (− 12 , 1), saddle point, unstable; (0, 0), (proper) node, unstable √ √ (a, c) (− 3/3, − 12 ), saddle point, unstable; ( 3/3, − 12 ), center, stable (a, c) (0, 0), node, unstable; (0, 2), node, asymptotically stable; ( 12 , 12 ), saddle point, unstable; (1, 0), node, asymptotically stable (a, c) (0, 0), saddle point, unstable; (0, 1), spiral point, asymptotically stable; (−2, −2), node, asymptotically stable; (3, −2), node, unstable (a, c) √ (0, 0), spiral √ point, asymptotically stable; √ √ (1 − 2, 1 + 2), saddle point, unstable; (1 + 2, 1 − 2), saddle point, unstable (a, c) (0, 0), saddle point, unstable; (2, 2), spiral point, asymptotically stable; (−1, −1), spiral point, asymptotically stable; (−2, 0), saddle point, unstable (a, c) (0, 0), saddle point, unstable; (0, 1), saddle point, unstable; ( 12 , 12 ), center, stable; (− 12 , 12 ), center, stable √ (a, √ c) (0, 0), saddle point, unstable; ( 6, 0), spiral point, asymptotically stable; (− 6, 0), spiral point, asymptotically stable (a, c) (0, 0), saddle point, unstable; (−2, 2), node, unstable; (4, 4), spiral point, asymptotically stable (a, c) (0, 0), spiral point, unstable 15. (a) 4x 2 − y 2 = c 2 2 17. (a) (y − 2x)2 (x + y) = c (a) 4x + y = c (a) arctan(y/x) − ln x 2 + y 2 = c 19. (a) 2x 2 y − 2x y + y 2 = c 2 2 2 2 (a) x y − 3x y − 2y = c 21. (a) (y 2 /2) − cos x = c 2 2 4 (a) x + y − (x /12) = c
Section 9.3, page 487
3, 4
6abc
1. 2. 3. 4. 5.
linear and nonlinear: saddle point, unstable linear and nonlinear: spiral point, asymptotically stable linear: center, stable; nonlinear: spiral point or center, indeterminate linear: improper node, unstable; nonlinear: node or spiral point, unstable √ (a, b, c) (0, 0); u = −2u + 2v, v = 4u + 4v; r = 1 ± 17; saddle point, unstable (−2, 2); u = 4u, v = 6u + 6v; r = 4, 6; node, unstable √ (4, 4); u = −6u + 6v, v = −8u; r = −3 ± 39 i; spiral point, asymptotically stable 6. (a, b, c) (0, 0); u = u, v = 3v; r = 1, 3; node, unstable (1, 0); u = −u − v, v = 2v; r = −1, 2; saddle point, unstable (0, 32 ); u = − 12 u, v = − 32 u − 3v; r = − 12 , −3; node, asymptotically stable √ (−1, 2); u = u + v, v = −2u − 4v; r = (−3 ± 17)/2; saddle point, unstable 7. (a, b, c) (1, 1); u = −v, v = 2u − 2v; r = −1 ± i; spiral point, asymptotically stable √ (−1, 1); u = −v, v = −2u − 2v; r = −1 ± 3; saddle point, unstable 8. (a, b, c) (0, 0); u = u, v = 12 v; r = 1, 12 ; node, unstable (0, 2); u = −u, v = − 32 u − 12 v; r = −1, − 12 ; node, asymptotically stable v = − 14 v; r = −1, − 14 ; node, asymptotically stable (1, 0); u = −u − v, √ ( 12 , 12 ); u = − 12 u − 12 v, v = − 83 u − 18 v; r = (−5 ± 57)/16; saddle point, unstable
721
Answers to Problems
See SSM for detailed solutions to 10ab 10c
18abc
22ab, 23a, 27a 27b, 28ab
9. (a, b, c) (0, 0); u = −u + v, v = 2u; r = √ −2, 1; saddle point, unstable (0, 1); u = −u − v, v = 3u; r = (−1 ± 11 i)/2; spiral point, asymptotically stable (−2, −2); u = −5u + 5v, v = −2v; r = −5, −2; node, asymptotically stable (3, −2); u = 5u + 5v, v = 3v; r = 5, 3; node, unstable 10. (a, b, c) (0, 0); u = u, v = v; r = 1, 1; node or spiral point, unstable (−1, 0); u = −u, v = 2v; r = −1, 2; saddle √ point, unstable 11. (a, b, c) (0, 0); u = 2u + v, v = u − 2v; r = ± 5; saddle point, unstable (−1.1935, −1.4797); u = −1.2399u − 6.8393v, v = 2.4797u − 0.80655v; r = −1.0232 ± 4.1125i; spiral point, asymptotically stable 12. (a, b, c) (0, ±2nπ ), n = 0, 1, 2, . . . ; u = v, v = −u; r = ±i; center or spiral point, indeterminate √ [2, ±(2n − 1)π ], n = 1, 2, 3, . . . ; u = −3v, v = −u; r = ± 3; saddle point, unstable 13. (a, b, c) (0, 0); u = u, v = v; r = 1, 1; node or spiral point, unstable (1, 1); u = u − 2v, v = −2u + v; r = 3, −1; saddle point, unstable 14. (a, b, c) (1, 1); u = −u − v, v = u − 3v; r = −2, −2; node or spiral point, asymptotically stable √ point, unstable (−1, −1); u = u + v, v = u − 3v; r = −1 ± 5; saddle √ 15. (a, b, c) (0, 0); u = −2u − v, v = u − v; r = (−3 ± 3 i)/2; spiral point, asymptotically stable (−0.33076, 1.0924) and (0.33076, −1.0924); u = −3.5216u − 0.27735v, v = 0.27735u + 2.6895v; r = −3.5092, 2.6771; saddle point, unstable 16. (a, b, c) (0, 0); u = u + v, v = −u + v; r = 1 ± i; spiral point, unstable 19. (b, c) Refer to Table 9.3.1. 21. (a) R = A, T ∼ (b) R = A, T ∼ = 3.17 = 3.20, 3.35, 3.63, 4.17 (c) T → π as A → 0 (d) A = π 23. (b) vc ∼ 22. (b) vc ∼ = 4.00 = 4.51 28. (a) d x/dt = y, dy/dt = −g(x) − c(x)y (b) The linear system is d x/dt = y, dy/dt = −g (0)x − c(0)y. (c) The eigenvalues satisfy r 2 + c(0)r + g (0) = 0. Section 9.4, page 501
3bc 3e
1. (b, c) (0, 0); u = 32 u, v = 2v; r = 32 , 2; node, unstable (0, 2); u = 12 u, v = − 32 u − 2v; r = 12 , −2; saddle point, unstable ( 32 , 0); u = − 32 u − 34 v, v = 78 v; r = − 32 , 78 ; saddle point, unstable √ ( 45 , 75 ); u = − 45 u − 25 v, v = − 21 u − 75 v; r = (−22 ± 204)/20; 20 node, asymptotically stable r = 32 , 2; node, unstable 2. (b, c) (0, 0); u = 32 u, v = 2v; (0, 4); u = − 21 u, v = −6u − 2v; r = − 12 , −2; node, asymptotically stable ( 32 , 0); u = − 32 u − 34 v, v = − 14 v; r = − 14 , − 32 ; node, asymptotically stable √ (1, 1); u = −u − 12 v, v = − 32 u − 12 v; r = (−3 ± 13)/4; saddle point, unstable 3. (b, c) (0, 0); u = 32 u, v = 2v; r = 32 , 2; node, unstable (0, 2); u = − 21 u, v = − 94 u − 2v; r = − 12 , −2; node, asymptotically stable (3, 0); u = − 23 u − 3v, v = − 11 v; r = − 32 , − 11 ; node, asymptotically stable 8 8 ); u = − 25 u − 45 v, v = − 99 u− ( 45 , 11 10 80 saddle point, unstable
11 v; 10
r = −1.80475, 0.30475;
722
Answers to Problems
4. (b, c) (0, 0); u = 32 u, v = 34 v; r = 32 , 34 ; node, unstable (0, 34 ); u = 34 u, v = − 34 v; r = ± 34 ; saddle point, unstable (3, 0); u = − 32 u − 3v, v = 38 v; r = − 32 , 38 ; saddle point, unstable
See SSM for detailed solutions to 5bc, 6bc
1 u − 12 v; r = −1.18301, −0.31699; (2, 12 ); u = −u − 2v, v = − 16 node, asymptotically stable 5. (b, c) (0, 0); u = u, v = 32 v; r = 1, 32 ; node, unstable (0, 32 ); u = − 12 u, v = − 32 u − 32 v; r = − 12 , − 32 ; node, asymptotically stable (1, 0); u = −u − v, v = 12 v; r = −1, 12 ; saddle point, unstable 6. (b, c) (0, 0); u = u, v = 52 v; r = 1, 52 ; node, unstable
(0, 53 );
6d
(1, 0);
11 u, 6
u = −u +
6ef, 8a 8.
8b, 9ab, 12a 9.
10.
12bcd
u =
12.
13.
v = 1 v, 2
r = 11 , − 52 ; saddle point, unstable 6 11 = 4 v; r = −1, 11 ; saddle point, unstable 4 √ 1 v = 2 u − 3v; r = (−5 ± 3)/2;
5 u 12
v
− 52 v;
(2, 2); u = −2u + v, node, asymptotically stable (a) Critical points are x = 0, y = 0; x = 1 /σ1 , y = 0; x = 0, y = 2 /σ2 . x → 0, y → 2 /σ2 as t → ∞; the redear survive. (b) Same as part (a) except x → 1 /σ1 , y → 0 as t → ∞; the bluegill survive. (a) X = (B − γ1 R)/(1 − γ1 γ2 ), Y = (R − γ2 B)/(1 − γ1 γ2 ) (b) X is reduced, Y is increased; yes, if B becomes less than γ1 R, then x → 0 and y → R as t → ∞. (a) σ1 2 − α2 1 = 0: (0, 0), (0, 2 /σ2 ), (1 /σ1 , 0) σ1 2 − α2 1 = 0: (0, 0), and all points on the line σ1 x + α1 y = 1 (b) σ1 2 − α2 1 > 0: (0, 0) is unstable node; (1 /σ1 , 0) is saddle point; (0, 2 /σ2 ) is asymptotically stable node. σ1 2 − α2 1 < 0: (0, 0) is unstable node; (0, 2 /σ2 ) is saddle point; (1 /σ1 , 0) is asymptotically stable node. (c) (0, 0) is unstable node; points on the line σ1 x + α1 y = 1 are stable, nonisolated critical points. (a) (0, 0), (0, 2 + 2α), (4, 0), (2, 2) (b) α = 0.75, asymptotically stable node; α = 1.25, (unstable) saddle point 2v, v = −2αu − 2v (c) u = −2u −√ (d) r = −2 ± 2 α; α0 = 1 (a) (0, 0), saddle point; (0.15, 0), spiral point if γ 2 < 1.11, node if γ 2 ≥ 1.11; (2, 0), saddle point (c) γ ∼ = 1.20
Section 9.5, page 509 1. (b, c) (0, 0);
3bc 3ef
u = 32 u, v = − 12 v;
r = 32 , − 12 ; saddle point, unstable √ u = v = 3u; r = ± 3 i/2; center or spiral point, indeterminate 2. (b, c) (0, 0); u = u, v = − 14 v; r = 1, − 14 ; saddle point, unstable ( 12 , 2); u = − 14 v, v = u; r = ± 12 i; center or spiral point, indeterminate 3. (b, c) (0, 0); u = u, v = − 14 v; r = 1, − 14 ; saddle point, unstable (2, 0); u = −u − v, v = 34 v; r = −1, 34 ; saddle point, unstable √ ( 12 , 32 ); u = − 14 u − 14 v, v = 34 u; r = (−1 ± 11 i)/8; spiral point, asymptotically stable 4. (b, c) (0, 0); u = 98 u, v = −v; r = 98 , −1; saddle point, unstable ( 12 , 3);
( 98 , 0); (1, 14 );
− 14 v,
u = − 98 u −
u = −u −
9 v, v = 18 v; 16 1 v, v = 14 u; 2
r = − 98 , 18 ; saddle point, unstable √ r = (−1 ± 0.5)/2; node, asymptotically stable
723
Answers to Problems
5. (b, c) (0, 0); u = −u, v = − 32 v; r = −1, − 32 ; node, asymptotically stable 3 v, v = −v; r = −1, 34 ; saddle point, unstable ( 12 , 0); u = 34 u − 20 (2, 0); ( 32 , 53 );
6.
See SSM for detailed solutions to 7abc, 11, 13
7.
8. 9. 11.
12.
13.
u = −3u − 35 v, v = 12 v;
− 34 u
9 v, 20
r = −3, 12 ; saddle point, unstable √ r = (−3 ± 39 i)/8; spiral point,
u = − v = asymptotically stable t = 0, T, 2T, . . . : H is a max., d P/dt is a max. t = T /4, 5T /4, . . . : d H/dt is a min., P is a max. t = T /2, 3T /2, . . . : H is a min., d P/dt is a min. t = 3T /4, 7T /4, . . . : √ d H/dt is a max., P is a min. √ √ (b) 3 (a) c α/ a γ (d) The ratio of prey amplitude to predator amplitude increases very slowly as the initial point moves √ away from the equilibrium point. (a) 4π/ 3 ∼ = 7.2552 (c) The period increases slowly as the initial point moves away from the equilibrium point. (a) T ∼ = 6.5 (b) T ∼ = 3.7, T ∼ = 11.5 (c) T ∼ = 3.8, T ∼ = 11.1 Trap foxes in half-cycle when d P/dt > 0, trap rabbits in half-cycle when d H/dt > 0, trap rabbits and foxes in quarter-cycle when d P/dt > 0 and d H/dt > 0, trap neither in quarter-cycle when d P/dt < 0 and d H/dt < 0. d H/dt = a H − α H P − β H , d P/dt = −c P + γ H P − δ P, where β and δ are constants of proportionality. New center is H = (c + δ)/γ > c/γ and P = (a − β)/α < a/α, so equilibrium value of prey is increased and equilibrium value of predator is decreased! Let A = a/σ − c/γ > 0. The critical points are (0, 0), (a/σ, 0), and (c/γ , σ A/α), where (0, 0) is a saddle point, (a/σ, 0) is a saddle point, and (c/γ , σ A/α) is an asymptotically stable node if (cσ/γ )2 − 4cσ A ≥ 0 or an asymptotically stable spiral point if (cσ/γ )2 − 4cσ A < 0. (H, P) → (c/γ , σ A/α) as t → ∞. 5 u; 3
Section 9.7, page 530
1, 2, 4, 7, 8a
1. 2. 3. 4. 5. 6. 8.
8b, 9, 11, 13, 16a 9. 14. 15.
16.
r = 1, θ = t + t0 , stable limit cycle r = 1, θ = −t + t0 , semistable limit cycle r = 1, θ = t + t0 , stable limit cycle; r = 3, θ = t + t0 , unstable periodic solution r = 1, θ = −t + t0 , unstable periodic solution; r = 2, θ = −t + t0 , stable limit cycle r = 2n − 1, θ = t + t0 , n = 1, 2, 3, . . . , stable limit cycle; r = 2n, θ = t + t0 , n = 1, 2, 3, . . . , unstable periodic solution r = 2, θ = −t + t0 , semistable limit cycle; r = 3, θ = −t + t0 , unstable periodic solution (a) Counterclockwise (b) r = 1, θ = t + t0 , stable limit cycle; r = 2, θ = t + t0 , semistable limit cycle; r = 3, θ = t + t0 , unstable periodic solution √ r = 2, θ = −t + t0 , unstable periodic solution (a) µ = 0.2, T ∼ = 6.29; µ = 1, T ∼ = 6.66; µ = 5, T ∼ = 11.60 3 (a) x = y, y = −x + µy − µy /3 (b) 0 < µ < 2, unstable spiral point; µ ≥ 2, unstable node (c) A ∼ = 2.16, T ∼ = 6.65 (d) µ = 0.2, A ∼ = 1.99, T ∼ = 6.31; µ = 0.5, A ∼ = 2.03, T ∼ = 6.39; ∼ ∼ ∼ µ = 2, A = 2.60, T = 7.65; µ = 5, A = 4.36, T ∼ = 11.60 (a) k = 0, (1.1994, −0.62426); k = 0.5, (0.80485, −0.13106) (c) T ∼ (d) k1 ∼ (b) k0 ∼ = 0.3465 = 0.3369 = 12.54
Section 9.8, page 538
1ab
1. (b) λ = λ1 , (1) = (0, 0, 1)T ; λ = λ2 , (2) = (20, 9 − √ λ = λ3 , (3) = (20, 9 + 81 + 40r , 0)T
√
81 + 40r, 0)T ;
724
Answers to Problems (1) (2) (c) λ1 ∼ = −2.6667, = (0, 0, 1)T ; λ2 ∼ = −22.8277, ∼ = (20, −25.6554, 0)T ; (3) λ3 ∼ = 11.8277, ∼ = (20, 43.6554, 0)T −13.8546; λ2 , λ3 ∼ 2. (c) λ1 ∼ = = 0.0939556 ± 10.1945i 5. (a) d V /dt = −2σ [r x 2 + y 2 + b(z − r )2 − br 2 ]
See SSM for detailed solutions to 1c, 2abc, 3b 3c, 4, 5ab C H A P T E R
2, 3, 7, 11, 15
1 0
Section 10.1, page 547 1. 3. 4. 5. 6. 7. 9. 11. 12. 13. 14. 15. 16.
√ √ √ √ y = − sin x 2. y = (cot 2π cos 2x + sin 2x)/ 2 y = 0 for all L; y = c2 sin x if sin L = 0. y = − tan L cos x + sin x if cos L = 0; no solution if cos L = 0. No solution. √ √ √ y = (−π sin 2x + x sin 2π )/2 sin 2π No solution. 8. y = c2 sin 2x + 13 sin x 1 y = c1 cos 2x + 3 cos x 10. y = 12 cos x 2 λn = [(2n − 1)/2] , yn (x) = sin[(2n − 1)x/2]; n = 1, 2, 3, . . . λn = [(2n − 1)/2]2 , yn (x) = cos[(2n − 1)x/2]; n = 1, 2, 3, . . . λ0 = 0, y0 (x) = 1; λn = n 2 , yn (x) = cos nx; n = 1, 2, 3, . . . λn = [(2n − 1)π/2L]2 , yn (x) = cos[(2n − 1)π x/2L]; n = 1, 2, 3, . . . λ0 = 0, y0 (x) = 1; λn = (nπ/L)2 , yn (x) = cos(nπ x/L); n = 1, 2, 3, . . . λn = −[(2n − 1)π/2L]2 , yn (x) = sin[(2n − 1)π x/2L]; n = 1, 2, 3, . . .
Section 10.2, page 555
3, 5, 7, 10
13ab, 15ab
1. 3. 5. 7. 9. 10. 11. 13. 14.
15a, 21abcd, 25
15. 16. 17. 18. 19. 20.
T = 2π/5 2. T = 1 Not periodic 4. T = 2L T =1 6. Not periodic T =2 8. T = 4 f (x) = 2L − x in L < x < 2L; f (x) = −2L − x in −3L < x < −2L f (x) = x − 1 in 1 < x < 2; f (x) = x − 8 in 8 < x < 9 f (x) = −L − x in −L < x < 0 ∞ 2L (−1)n nπ x (b) f (x) = sin π n=1 n L ∞ 1 sin[(2n − 1)π x/L] 2 (b) f (x) = − 2 π n=1 2n − 1 ∞ (−1)n+1 sin nx π 2 cos(2n − 1)x + (b) f (x) = − + 4 n π(2n − 1)2 n=1 ∞ cos(2n − 1)π x 4 1 (b) f (x) = + 2 2 π n=1 (2n − 1)2 ∞ 2L cos[(2n − 1)π x/L] (−1)n+1 L sin(nπ x/L) 3L (b) f (x) = + + 4 nπ (2n − 1)2 π 2 n=1 2 ∞ 2 nπ nπ 2 nπ x − sin (b) f (x) = cos + sin nπ 2 nπ 2 2 n=1 ∞ 4 sin[(2n − 1)π x/2] (b) f (x) = π n=1 2n − 1 ∞ n+1 2 (−1) (b) f (x) = sin nπ x π n=1 n
725
Answers to Problems
∞ (−1)n 2 nπ x 8 cos + 2 3 π n=1 n 2 2 ∞ ∞ 1 cos[(2n − 1)π x/2] (−1)n 2 12 nπ x 22. (b) f (x) = + 2 + sin 2 2 π n=1 π n=1 n 2 (2n − 1)
∞ ∞ n n 11 nπ x 4[1 − (−1) ] (−1)n 1 (−1) − 5 nπ x 23. (b) f (x) = cos − + 2 + sin 2 3 3 12 π n=1 2 nπ 2 n n π n=1 ∞
∞ n n n 9 108(−1) + 54 nπ x 162[(−1) − 1] 27(−1) nπ x 24. (b) f (x) = + − sin cos − 3 3 8 n=1 3 3 n4π 4 n2π 2 n π n=1
21. (b) f (x) =
See SSM for detailed solutions to 27a
25. m = 81 26. m = 27 x 28. f (t) dt may not be periodic; for example, let f (t) = 1 + cos t. 0
Section 10.3, page 562 ∞ 4 sin(2n − 1)π x π n=1 2n − 1 ∞
π (−1)n 2 (a) f (x) = − cos(2n − 1)x + sin nx 2 4 n n=1 (2n − 1) π ∞ L cos[(2n − 1)π x/L] 4L (a) f (x) = + 2 2 π n=1 (2n − 1)2 ∞ (−1)n+1 2 4 (a) f (x) = + 2 cos nπ x 3 π n=1 n2 ∞ 1 (−1)n−1 2 (a) f (x) = + cos(2n − 1)x 2 π n=1 2n − 1 ∞ a (a) f (x) = 0 + (an cos nπ x + bn sin nπ x); 2 n=1 1 2(−1)n −1/nπ, n even a0 = , an = 2 2 , bn = 1/nπ − 4/n 3 π 3 , n odd 3 n π ∞
π 1 − cos nπ (−1)n (a) f (x) = − + cos nx − sin nx 4 n π n2 n=1 (b) n = 10; max|e| = 1.6025 at x = ±π n = 20; max|e| = 1.5867 at x = ±π n = 40; max|e| = 1.5788 at x = ±π (c) Not possible ∞ 1 − cos nπ 2 1 cos nπ x (a) f (x) = + 2 2 π n=1 n2 (b) n = 10; max|e| = 0.02020 at x = 0, ±1 n = 20; max|e| = 0.01012 at x = 0, ±1 n = 40; max|e| = 0.005065 at x = 0, ±1 (c) n = 21 ∞ 2 (−1)n+1 (a) f (x) = sin nπ x π n=1 n
1. (a) f (x) =
2ab, 4a
2. 3.
4b, 7abc
4. 5. 6.
7.
8.
9.
(b) n = 10, 20, 40; (c) Not possible
max|e| = 1 at x ± 1
726
Answers to Problems
10. (a) f (x) =
∞
1 nπ x 6(1 − cos nπ ) 2 cos nπ nπ x cos + + sin 2 n=1 2 nπ 2 n2π 2
(b) n = 10; lub|e| = 1.0606 as x → 2 n = 20; lub|e| = 1.0304 as x → 2 n = 40; lub|e| = 1.0152 as x → 2 (c) Not possible ∞ 1 2 cos nπ 2 − 2 cos nπ + n 2 π 2 cos nπ 11. (a) f (x) = + cos nπ x − sin nπ x 6 n=1 n2π 2 n3π 3
See SSM for detailed solutions to 12a 12b, 14
(b) n = 10; lub|e| = 0.5193 as x → 1 n = 20; lub|e| = 0.5099 as x → 1 n = 40; lub|e| = 0.5050 as x → 1 (c) Not possible ∞ (−1)n 12 sin nπ x 12. (a) f (x) = − 3 π n=1 n 3 (b) n = 10; max|e| = 0.001345 at x = ±0.9735 n = 20; max|e| = 0.0003534 at x = ±0.9864 n = 40; max|e| = 0.00009058 at x = ±0.9931 (c) n = 4 13. y = (ω sin nt − n sin ωt)/ω(ω2 − n 2 ), ω2 = n 2 y = (sin nt − nt cos nt)/2n 2 , ω2 = n 2 ∞ 14. y = bn (ω sin nt − n sin ωt)/ω(ω2 − n 2 ), ω = 1, 2, 3, . . . n=1
y=
∞
bn (m sin nt − n sin mt)/m(m 2 − n 2 ) + bm (sin mt − mt cos mt)/2m 2 ,
n=1 n =m
15, 16, 18a 18b
∞ 1 1 4 1 sin(2n − 1)t − sin ωt π n=1 ω2 − (2n − 1)2 2n − 1 ω ∞ cos(2n − 1)π t − cos ωt 1 4 16. y = cos ωt + (1 − cos ωt) + 2 2ω2 π n=1 (2n − 1)2 [ω2 − (2n − 1)2 ]
15. y =
Section 10.4, page 570
3, 6 7, 10, 13, 14
15, 18
1. Odd 4. Even
2. Neither 5. Even
∞ 1 − cos(nπ/2) nπ x 4 1 cos + 2 2 4 π n=1 2 n ∞ (nπ/2) − sin(nπ/2) nπ x 4 sin f (x) = 2 2 π n=1 n2 ∞ n−1 (−1) 1 2 (2n − 1)π x 15. f (x) = + cos 2 π n=1 2n − 1 2 ∞ 2 2 nπ nπ x 16. f (x) = − cos nπ + sin sin nπ nπ 2 2 n=1
3. Odd 6. Neither
14. f (x) =
∞ sin(2n − 1)x 4 18. f (x) = π n=1 2n − 1 ∞ 2 nπ 2nπ nx 19. f (x) = cos + cos − 2 cos nπ sin nπ 3 3 3 n=1
17. f (x) = 1
ω=m
727
Answers to Problems
See SSM for detailed solutions to 20
21. 22. 23. 24.
25abc, 28b
25. 26. 27.
28cd, 31, 32
28.
29.
34, 35, 37ab
∞ sin 2nπ x 1 1 − 2 π n=1 n ∞ cos[(2n − 1)π x/L] L 4L f (x) = + 2 2 π n=1 (2n − 1)2 ∞ 2L sin(nπ x/L) f (x) = π n=1 n ∞
2π π nπ 1 nπ 4 nx (a) f (x) = + sin + 2 cos − 1 cos 4 π n=1 n 2 2 2 n ∞ (−1)n (a) f (x) = 2 sin nx n n=1 ∞ 4n 2 π 2 (1 + cos nπ ) 16(1 − cos nπ ) nπ x sin + (a) f (x) = 3 3 3 3 2 n π n π n=1 ∞ nπ x 1 + 3 cos nπ 4 16 cos (a) f (x) = + 2 3 π n=1 4 n2 ∞ 1 − cos nπ 3 nπ x 6 (b) g(x) = + 2 cos 2 2 π n=1 3 n ∞ 1 nπ x 6 sin h(x) = π n=1 n 3 ∞ nπ x 1 4 cos(nπ/2) + 2nπ sin(nπ/2) − 4 cos (b) g(x) = + 2 2 4 n=1 2 n π ∞ 4 sin(nπ/2) − 2nπ cos(nπ/2) nπ x h(x) = sin 2 n2π 2 n=1 ∞ 12 cos nπ + 4 5 nπ x (b) g(x) = − + cos 12 n=1 2 n2π 2 ∞ 2 2 nπ x 1 n π (3 + 5 cos nπ ) + 32(1 − cos nπ ) sin h(x) = − 3 3 2 n=1 2 n π ∞ nπ x 1 6n 2 π 2 (2 cos nπ − 5) + 324(1 − cos nπ ) cos (b) g(x) = + 4 4 4 n=1 3 n π ∞
4 cos nπ + 2 144 cos nπ + 180 nπ x sin + h(x) = 3 3 nπ 3 n π n=1 Extend f (x) antisymmetrically into (L , 2L]; that is, so that f (2L − x) = − f (x) for 0 ≤ x < L. Then extend this function as an even function into (−2L , 0).
20. f (x) =
30.
38, 39 40.
Section 10.5, 579
3, 5
8
x X − λX = 0, T + λT = 0 2. X − λx X = 0, T + λt T = 0 4. [ p(x)X ] + λr (x)X = 0, T + λT = 0 X − λ(X + X ) = 0, T + λT = 0 Not separable 2 6. X + (x + λ)X = 0, Y − λY = 0 2 u(x, t) = e−400π t sin 2π x − 2e−2500π t sin 5π x 2 2 2 u(x, t) = 2e−π t/16 sin(π x/2) − e−π t/4 sin π x + 4e−π t sin 2π x ∞ nπ x 100 1 − cos nπ −n 2 π 2 t/1600 sin e 9. u(x, t) = π n=1 n 40
1. 3. 5. 7. 8.
728 See SSM for detailed solutions to 10
Answers to Problems
11. 12.
15abcd, 18a
∞ sin(nπ/2) −n 2 π 2 t/1600 160 nπ x e sin 40 π 2 n=1 n2 ∞ 100 cos(nπ/4) − cos(3nπ/4) −n 2 π 2 t/1600 nπ x u(x, t) = sin e π n=1 n 40 ∞ n+1 80 (−1) 2 2 nπ x u(x, t) = e−n π t/1600 sin π n=1 n 40 t = 5, n = 16; t = 20, n = 8; t = 80, n = 4 (d) t = 673.35 15. (d) t = 451.60 16. (d) t = 617.17 (b) t = 5, x = 33.20; t = 10, x = 31.13; t = 20, x = 28.62; t = 40, x = 25.73; t = 100, x = 21.95; t = 200, x = 20.31 (e) t = 524.81 ∞ 200 1 − cos nπ −n 2 π 2 α2 t/400 nπ x u(x, t) = sin e π n=1 n 20 (b) 67.23◦ C (c) 99.96◦ C (a) 35.91◦ C (a) 76.73 sec (b) 152.56 sec (c) 1093.36 sec (a) awx x − bwt + (c − bδ)w = 0 (b) δ = c/b if b = 0 Y + (λ2 − µ2 )Y = 0, T + α 2 λ2 T = 0 X + µ2 X = 0, r 2 R + r R + (λ2 r 2 − µ2 )R = 0, + µ2 = 0, T + α 2 λ2 T = 0
10. u(x, t) =
13. 14. 17.
18.
18b, 19b, 20, 22 19. 21. 22. 23.
Section 10.6, page 588
3, 7, 9abd
12abcd
14abc
1. u = 10 + 35 x 2. u = 30 − 54 x 3. u = 0 4. u = T 5. u = 0 6. u = T 7. u = T (1 + x)/(1 + L) 8. u = T (1 + L − x)/(1 + L) ∞ 70 cos nπ + 50 −0.86n 2 π 2 t/400 nπ x 9. (a) u(x, t) = 3x + sin e (d) 160.29 sec nπ 20 n=1 10. (a) f (x) = 2x, 0 ≤ x ≤ 50; f (x) = 200 − 2x, 50 < x ≤ 100 ∞ 2 2 2 nπ x x c e−1.14n π t/(100) sin , (b) u(x, t) = 20 − + 5 n=1 n 100 800 nπ 40 cn = 2 2 sin − (d) u(50, t) → 10 as t → ∞; 3754 sec 2 nπ n π ∞ 2 2 nπ x cn e−n π t/900 sin , 11. (a) u(x, t) = 30 − x + 30 n=1 60 cn = 3 3 [2(1 − cos nπ ) − n 2 π 2 (1 + cos nπ )] n π ∞ 2 2 2 2 2 nπ x 12. (a) u(x, t) = + cn e−n π α t/L cos , π L n=1 0, n odd; cn = −4/(n 2 − 1)π, n even (b) lim u(x, t) = 2/π t→∞ ∞ 200 2 2 nπ x 13. (a) u(x, t) = cn e−n π t/6400 cos + , 9 40 n=1 160 cn = − 2 2 (3 + cos nπ ) 3n π (c) 200/9 (d) 1543 sec ∞ 2 2 nπ x 25 cn e−n π t/900 cos + , 14. (a) u(x, t) = 6 30 n=1 50 nπ nπ sin − sin cn = nπ 3 6
729
Answers to Problems
See SSM for detailed solutions to 15a 15b, 19
∞ 2 2 2 2 (2n − 1)π x 15. (b) u(x, t) = cn e−(2n−1) π α t/4L sin , 2L n=1 2 L (2n − 1)π x cn = f (x) sin dx L 0 2L ∞ 2 2 (2n − 1)π x 16. (a) u(x, t) = cn e−(2n−1) π t/3600 sin , 60 n=1
120 [2 cos nπ + (2n − 1)π ] (2n − 1)2 π 2 (c) xm increases from x = 0 and reaches x = 30 when t = 104.4. ∞ 2 2 (2n − 1)π x cn e−(2n−1) π t/3600 sin 17. (a) u(x, t) = 40 + , 60 n=1 40 cn = [6 cos nπ − (2n − 1)π ] (2n − 1)2 π 2
x ξ T 0 ≤ x ≤ a, a ξ + (L/a) − 1 ,
where ξ = κ2 A2 /κ1 A1 19. u(x) = L−x 1 T 1 − , a ≤ x ≤ L, a ξ + (L/a) − 1 2 2 20. (e) u n (x, t) = e−λn α t sin λn x cn =
Section 10.7, page 600
1a
1. (a) u(x, t) =
1bce, 6ab
2. (a) u(x, t) = 3. (a) u(x, t) = 4. (a) u(x, t) = 5. (a) u(x, t) = 6. (a) u(x, t) =
6c, 9
7. (a) u(x, t) = 8. (a) u(x, t) = 9. u(x, t) = 2 cn = L
∞ n=1 L
∞ 1 nπ nπ x nπat 8 sin sin cos 2 2 2 L L π n=1 n ∞ 1 nπ 3nπ nπ x nπat 8 sin + sin sin cos 4 4 L L π 2 n=1 n 2 ∞ nπ x 32 2 + cos nπ nπat sin cos 3 3 L L π n=1 n ∞ sin(nπ/2) sin(nπ/L) 4 nπ x nπat sin cos π n=1 n L L ∞ nπ 1 8L nπ x nπat sin sin sin 3 3 2 L L aπ n=1 n ∞ 8L sin(nπ/4) + sin(3nπ/4) nπ x nπat sin sin 3 3 L L aπ n=1 n ∞ cos nπ + 2 nπ x nπat 32L sin sin L L aπ 4 n=1 n4 ∞ nπ x 4L sin(nπ/2) sin(nπ/L) nπat sin sin 2 2 L L aπ n=1 n
cn sin
(2n − 1)π x (2n − 1)πat cos , 2L 2L
f (x) sin
0
(2n − 1)π x dx 2L
730 See SSM for detailed solutions to 10a 10bc, 13, 14
Answers to Problems ∞ 1 8 (2n − 1)π (2n − 1)π (2n − 1)π x (2n − 1)πat sin sin sin cos π n=1 2n − 1 4 2L 2L 2L ∞ (2n − 1)π x 512 (2n − 1)π + 3 cos nπ (2n − 1)πat sin (a) u(x, t) = 4 cos 4 2L 2L π n=1 (2n − 1) φ(x + at) represents a wave moving in the negative x direction with speed a > 0. (a) 248 ft/sec (b) 49.6π n rad/sec (c) Frequencies increase; modes are unchanged. ∞ u(x, t) = cn cos βn t sin(nπ x/L), βn2 = (nπa/L)2 + α 2 ,
10. (a) u(x, t) = 11. 14. 15.
16, 17abc
16.
18abc, 24
2 L cn = f (x) sin(nπ x/L) d x L 0 22. r 2 R + r R + (λ2 r 2 − µ2 )R = 0,
n=1
+ µ2 = 0,
T + λ2 a 2 T = 0
Section 10.8, page 611
1abc 1d
2, 3a, 4
2. 3.
5, 7
5.
6.
7.
8abc
a nπ x 2/a nπ x nπ y g(x) sin sinh , cn = dx a a sinh(nπ b/a) a 0 n=1 ∞ 4a 1 sin(nπ/2) nπ x nπ y (b) u(x, y) = 2 sin sinh 2 sinh(nπ b/a) a a π n=1 n a ∞ nπ x 2/a nπ x nπ(b − y) u(x, y) = cn sin h(x) sin sinh , cn = dx a a sinh(nπ b/a) 0 a n=1 ∞ ∞ nπ x nπ x nπ y nπ(b − y) (a) u(x, y) = cn(1) sinh cn(2) sin sin + sinh , b b a a n=1 n=1 b a 2/b nπ y 2/a nπ x cn(1) = f (y) sin h(x) sin dy, cn(2) = dx sinh(nπa/b) 0 b sinh(nπ b/a) 0 a 2 2 2 2 (n π − 2) cos nπ + 2 , cn(2) = − 3 3 (b) cn(1) = nπ sinh(nπa/b) sinh(nπ b/a) n π ∞ c0 r −n (cn cos nθ + kn sin nθ ); + u(r, θ ) = 2 n=1 a n 2π a n 2π cn = f (θ ) cos nθ dθ , kn = f (θ ) sin nθ dθ π 0 π 0 ∞ π 2 cn r n sin nθ, cn = f (θ ) sin nθ dθ (a) u(r, θ ) = n πa 0 n=1 4 cos nπ + 1 (b) cn = πa n n3 α ∞ nπ θ nπ θ nπ/α −nπ/α u(r, θ ) = cn r sin f (θ ) sin , cn = (2/α)a dθ α α 0 n=1 ∞ nπ x 2 a nπ x (a) u(x, y) = cn e−nπ y/a sin f (x) sin , cn = dx a a a 0 n=1 4a 2 ∼ 6.6315 (c) y0 = (b) cn = 3 3 (1 − cos nπ ) n π b ∞ nπ x 2/nπ nπ y nπ y cn cosh f (y) cos cos , cn = dy (b) u(x, y) = c0 + b b sinh(nπa/b) 0 b n=1 ∞ u(r, θ ) = c0 + r n (cn cos nθ + kn sin nθ ),
1. (a) u(x, y) =
8.
10. 11.
cn sin
n=1 2π
1 g(θ ) cos nθ dθ , kn = n−1 nπa 0 2π g(θ ) dθ = 0. necessary condition is cn =
1 nπa n−1
∞
0
0
2π
g(θ ) sin nθ dθ ;
731
Answers to Problems
12. (a) u(x, y) =
∞
cn sin
n=1
See SSM for detailed solutions to 13a
nπ x nπ y cosh , a a
cn =
2/a cosh(nπ b/a)
a
g(x) sin 0
nπ x dx a
4a sin(nπ/2) (b) cn = 2 2 n π cosh(nπ b/a) ∞ (2n − 1)π x (2n − 1)π y cn sinh sin , 13. (a) u(x, y) = 2b 2b n=1 b 2/b (2n − 1)π y cn = f (y) sin dy sinh[(2n − 1)πa/2b] 0 2b 32b2 (2n − 1) π sinh[(2n − 1)πa/2b] ∞ c y nπ x nπ y 14. (a) u(x, y) = 0 + cn cos sinh , 2 a a n=1 a a 2 2/a nπ x = g(x) d x, c = g(x) cos dx c0 n ab 0 sinh(nπ b/a) 0 a a4 2 24a 4 (1 + cos nπ ) 1+ , cn = − 4 4 (b) c0 = b 30 n π sinh(nπ b/a) (b) cn =
C H A P T E R
2, 4, 5, 9
10, 11ab
13, 18a, 20
22abcd, 23
1 1
3
3
Section 11.1, page 626 1. Homogeneous 2. Nonhomogeneous 3. Nonhomogeneous 4. Homogeneous 5. Nonhomogeneous 6. Homogeneous √ √ 7. φn (x) = sin λn x, where λn satisfies λ = − tan λ π ; λ1 ∼ for large n = 0.6204, λ2 ∼ = 2.7943, λn ∼ = (2n√− 1)2 /4 √ 8. φn (x) = cos λn x, where λn satisfies λ = cot λ; 11.7349, λn ∼ 1)2 π 2 for large n λ1 ∼ = 0.7402, λ2 ∼ = = (n − 9. φn (x) = sin λn x + λn cos λn x, where λn satisfies √ √ √ (λ − 1) sin λ − 2 λ cos λ = 0; λ1 ∼ = 1.7071, λ2 ∼ = 13.4924, λn ∼ = (n − 1)2 π 2 for large n 10. λ0 = 0; φ0 (x) = 1 − x For n = 1, 2, 3, . . . , φn (x) = sin µn x − µn cos µn x and λn = −µ2n , where µn satisfies µ = tan µ. λ1 ∼ = −20.1907, λ2 ∼ = −59.6795, λn ∼ = −(2n + 1)2 π 2 /4 for large n 2
µ(x) = e−x 13. µ(x) = 1/x µ(x) = e−x 15. µ(x) = (1 − x 2 )−1/2 a 2 X + (λ − k)X = 0, T + cT + λT = 0 (a) s(x) = e x (b) λn = n 2 π 2 , φn (x) = e x sin nπ x; n = 1, 2, 3, . . . √ √ Positive eigenvalues λ = λn , where λn satisfies λ = 23 tan 3 λL; corresponding eigen functions are φn (x) = e−2x sin 3 λn x. If L = 12 , λ0 = 0 is eigenvalue, φ0 (x) = xe−2x is eigenfunction; if L = 12 , λ = 0 is not eigenvalue. If L ≤ 12 , there are no negative eigenvalues; if L > 12 , there is one negative eigenvalue λ = −µ2 , where µ is a root of µ = 23 tanh 3µL; corresponding eigenfunction is φ−1 (x) = e−2x sinh 3µx. 19. No real eigenvalues. 20. Only eigenvalue √ √is λ =√0; eigenfunction is φ(x) = x − 1. 21. (a) 2 sin λ − λ cos λ = 0; λ1 ∼ = 18.2738, λ2 ∼ = 57.7075 √ √ √ (b) 2 sinh µ − µ cosh µ = 0, µ = −λ; λ−1 ∼ = −3.6673 12. 14. 16. 17. 18.
732
Answers to Problems
24. (a) λn = µ4n , where µn is a root of sin µL sinh µL = 0, hence λn = (nπ/L)4 ; λ1 ∼ = 97.409/L 4 , φn (x) = sin(nπ x/L) (b) λn = µ4n , where µn is a root of sin µL cosh µL − cos µL sinh µL = 0; sin µn x sinh µn L − sin µn L sinh µn x λ1 ∼ = 237.72/L 4 , φn = sinh µn L (c) λn = µ4n , where µn is a root of 1 + cosh µL cos µL = 0; λ1 ∼ = 12.362/L 4 , [(sin µn x − sinh µn x)(cos µn L + cosh µn L) + (sin µn L + sinh µn L)(cosh µn x − cos µn x)] φn (x) = cos µn L + cosh µn L 25. (c) φn (x) = sin λn x, where λn satisfies cos λn L − γ λn L sin λn L = 0; ∼ 1.1597/L 2 , λ = ∼ 13.276/L 2 λ =
See SSM for detailed solutions to 24b
1
2
Section 11.2, page 639
1, 3, 5
7, 10, 14, 17, 21a
√ 1. φn (x) = 2 sin(n − 12 )π x; n = 1, 2, . . . √ 2. φn (x) = 2 cos(n − 12 )π x; n = 1, 2, . . . √ 3. φ0 (x) = 1, φn (x) = 2 cos nπ x; n = 1, 2, . . . √ 2 cos λn x 4. φn (x) = 1/2 , where λn satisfies cos λn − λn sin λn = 0 2 (1 + sin λn ) √ √ x 2 2 6. an = ; n = 1, 2, . . . 5. φn (x) = 2 e sin nπ x; n = 1, 2, . . . √ (2n − 1)π n−1 4 2(−1) ; n = 1, 2, . . . 7. an = (2n − 1)2 π 2 √ 2 2 8. an = {1 − cos[(2n − 1)π/4]}; n = 1, 2, . . . (2n − 1)π √ 2 2 sin(n − 12 )(π/2) ; n = 1, 2, . . . 9. an = (n − 12 )2 π 2 In Problems 10 through 13, αn = (1 + sin2
λn )1/2 and cos λn − λn sin λn = 0.
√
10. 12.
21bc, 23abc, 24 25bc
14. 16. 18. 21. 25.
26.
√ 2 sin λn 2(2 cos λn − 1) an = ; n = 1, 2, . . . 11. an = ; n = 1, 2, . . . λn αn λn αn √ √ 2(1 − cos λn ) 2 sin( λn /2) ; n = 1, 2, . . . 13. an = ; n = 1, 2, . . . an = λn αn λn αn Not self-adjoint 15. Self-adjoint Not self-adjoint 17. Self-adjoint Self-adjoint (a) If a2 = 0 or b2 = 0, then the corresponding boundary term is missing. (a) λ1 = π 2 /L 2 ; φ1 (x) = sin(π x/L) (b) λ1 ∼ = (4.4934)2 /L 2 ; φ1 (x) = sin λ1 x − λ1 x cos λ1 L (c) λ1 = (2π )2 /L 2 ; φ1 (x) = 1 − cos(2π x/L) λ1 = π 2 /4L 2 ; φ1 (x) = 1 − cos(π x/2L)
Section 11.3, page 651
1 2
1. y = 2
∞ (−1)n+1 sin nπ x
(n π − 2)nπ 2
n=1
2
2. y = 2
∞
(−1)n+1 sin(n − 12 )π x
n=1
[(n − 12 )2 π 2 − 2](n − 12 )2 π 2
733
Answers to Problems
See SSM for detailed solutions to 3, 5, 8
∞ cos(2n − 1)π x 1 3. y = − − 4 2 2 4 [(2n − 1) π − 2](2n − 1)2 π 2 n=1 ∞ ∞ (2 cos λn − 1) cos λn x sin(nπ/2) sin nπ x 4. y = 2 5. y = 8 2 2 2 2 2 λn ) n=1 λn (λn − 2)(1 + sin n=1 (n π − 2)n π
6 –9. For each problem the solution is y=
∞ n=1
10, 11, 12, 14, 18
19, 22
24, 28a
30bcd 30e
cn =
1 0
f (x)φn (x) d x,
µ = λn ,
where φn (x) is given in Problems 1, 2, 3, and 4, respectively, in Section 11.2, and λn is the corresponding eigenvalue. In Problem 8 summation starts at n = 0. 1 1 1 1 x − cos π x + + c sin π x 10. a = − , y = 2 2 2π 2 π2 11. No solution 12. a is arbitrary, y = c cos π x + a/π 2 13. a = 0, y = c sin π x − (x/2π ) sin π x 17. v(x) = a + (b − a)x 18. v(x) = 1 − 32 x
√ 4c 4c1 πx 1 −π 2 t/4 sin + 19. u(x, t) = 2 − 21 + e √ 2 2 π π 2 ∞ √ 4cn 2 2 − 2 [1 − e−(n−1/2) π t ] sin(n − 12 )π x, 2 2 n=2 (2n − 1) π √ 4 2(−1)n+1 , n = 1, 2, . . . cn = (2n − 1)2 π 2
∞ √ cos λn x cn −t −λn t −λn t ) + αn e , 20. u(x, t) = 2 (e − e λn − 1 (1 + sin2 λn )1/2 n=1 √ √ 2 sin λn 2(1 − cos λn ) cn = , αn = , λn (1 + sin2 λn )1/2 λn (1 + sin2 λn )1/2 and λn satisfies cos λn − λn sin λn = 0. ∞ 2 2 sin(nπ/2) (1 − e−n π t ) sin nπ x 21. u(x, t) = 8 4 4 n π n=1 2 2 ∞ √ cn (e−t − e−(n−1/2) π t ) sin(n − 12 )π x 22. u(x, t) = 2 , (n − 12 )2 π 2 − 1 n=1 √ √ 2 2(2n − 1)π + 4 2(−1)n cn = (2n − 1)2 π 2 23. (a) r (x)wt = [ p(x)wx ]x − q(x)w, w(0, t) = 0, w(1, t) = 0, 2 2 ∞ e−(2n−1) π t sin(2n − 1)π x 4 24. u(x, t) = x 2 − 2x + 1 + π n=1 2n − 1 25. u(x, t) = − cos π x + e−9π
28bcd
cn φ (x), λn − µ n
2 t/4
cos(3π x/2)
31–34. In all cases solution is y = 31. G(x, s) =
1
G(x, s) f (s) ds, where G(x, s) is given below.
0
1 − x, 1 − s,
w(x, 0) = f (x) − v(x)
0≤s≤x x ≤s≤1
32. G(x, s) =
s(2 − x)/2, x(2 − s)/2,
0≤s≤x x ≤s≤1
734
Answers to Problems
See SSM for detailed solutions to 33
33. G(x, s) = 34. G(x, s) =
cos s sin(1 − x)/ cos 1, sin(1 − s) cos x/ cos 1, s, x,
0≤s≤x x ≤s≤1
0≤s≤x x ≤s≤1
Section 11.4, page 661 ' 1 1 cn f (x)J0 ( λn x) d x x J02 ( λn x) d x, J0 ( λn x), cn = λ − µ 0 0 n=1 n √ λn satisfies J0 ( λ) = 0 ∞ cn c J0 ( λn x); 2. (c) y = − 0 + µ λ −µ n=1 n ' 1 1 1 c0 = 2 f (x) d x; cn = f (x)J0 ( λn x) d x x J02 ( λn x) d x, n = 1, 2, . . .; 0 0 0 √ λn satisfies J0 ( λ) = 0 ' 1 1 3. (d) an = x Jk ( λn x) f (x) d x x Jk2 ( λn x) d x 1. y =
2abc
∞
0
4ab
0
' 1 1 cn f (x)Jk ( λn x) d x x Jk2 ( λn x) d x Jk ( λn x), cn = (e) y = λ −µ 0 0 n=1 n ' 1 1 ∞ cn 2 (x), cn = f (x)P2n−1 (x) d x P2n−1 (x) d x P 4. (b) y = λ − µ 2n−1 0 0 n=1 n ∞
Section 11.5, page 666
1abc 2 4, 5ab, 6
1. (b) u(ξ, 2) = f (ξ + 1), u(ξ, 0) = 0, 0 ≤ ξ ≤ 2 u(0, η) = u(2, η) = 0, 0 ≤ η ≤ 2 ' 1 1 ∞ 1 2. u(r, t) = kn J0 (λn r ) sin λn at, kn = r J0 (λn r )g(r ) dr r J02 (λn r ) dr λn a 0 0 n=1 3. Superpose the solution of Problem 2 and the solution [Eq. (21)] ' of1 the example in the text. 1 ∞ cn e−λn z J0 (λn r ), cn = r J0 (λn r ) f (r ) dr r J02 (λn r ) dr, 6. u(r, z) = n=1
and λn satisfies J0 (λ) = 0.
7b, 9a, 10
0
0
∞ Jm (kr )(bm sin mθ + cm cos mθ ), 7. (b) v(r, θ ) = 12 c0 J0 (kr ) + m=1 2π 1 bm = f (θ ) sin mθ dθ ; m = 1, 2, . . . π Jm (kc) 0 2π 1 f (θ ) cos mθ dθ ; m = 0, 1, 2, . . . cm = π Jm (kc) 0 ' 1 1 r f (r )J0 (λn r ) dr r J02 (λn r ) dr 8. cn = 0 0 ' 1 ∞ 10. u(ρ, s) = cn ρ n Pn (s), where cn = f (arccos s)Pn (s) ds n=0
−1
Pn is the nth Legendre polynomial and s = cos φ.
1
−1
Pn2 (s) ds;
Answers to Problems
Section 11.6, page 675
See SSM for detailed solutions to 2abc, 4a 5, 7bcd, 8 9abcde, 10, 12
n = 21 √ (c) n = 20 (a) bm = (−1)m+1 2/mπ √ (c) n = 1 (a) bm = 2 2(1 − cos mπ )/m 3 π 3 √ √ (a) f 0 (x) = 1 (b) f 1 (x) = 3(1 − 2x) (c) f 2 (x) = 5(−1 + 6x − 6x 2 ) g1 (x) = 2x − 1, g2 (x) = 6x 2 − 6x + 1 (d) g0 (x) = 1, 8. P0 (x) = 1, P1 (x) = x, P2 (x) = (3x 2 − 1)/2, P3 (x) = (5x 3 − 3x)/2
1. 2. 3. 7.
735
INDEX
A Abel, Niels Henrik, 149, 216 Abel’s formula, 149, 167, 168, 213, 228 for systems of equations, 370 Acceleration of convergence, 564 Adams, John Couch, 439 Adams–Bashforth formula, fourth order, 440 second order, 440 Adams–Moulton formula, fourth order, 441 second order, 441 Adaptive numerical method, 427, 433 Adjoint, differential equation, 146 matrix, 348 Airy, George Biddell, 243 Airy equation, 147, 243–247, 252, 260, 291, 309 Almost linear systems, 479–491 Amplitude, of simple harmonic motion, 190 Amplitude modulation, 202 Analytic function, 235, 250 Angular momentum, principle of, 473–474 Annihilators, method of, 225–226 Asymptotic stability, see Stability Augmented matrix, 358
asymptotic approximation to, 284 Laplace transform of, 308 zeros of, 291, 658, 665 J1 (x), 272, 287, 289 B J1/2 (x), 285 Backward differentiation J−1/2 (x), 286 formulas, 443–444 Backward Euler formula, orthogonality of, 291, 661, 662 422–424 Y0 (x), 283, 658, 665 Basin of attraction, 487, 498, asymptotic approximation 516–519 to, 284 Beats, 201–202, 323–324 Y1 (x), 289 Bendixson, Ivar Otto, 525 Bessel inequality, 676 Bernoulli, Daniel, 25, 87, 88, Bessel series expansion, 661, 666 573, 591 Bifurcation (points), 88, 89, 122, Bernoulli, Jakob, 24, 63, 73, 336 383, 480, 502, 533 Bernoulli, Johann, 24, 63 Boundary conditions: 542 Bernoulli equation, 73 for elastic string, 591, 600 Bessel, Friedrich Wilhelm, 280 for heat equation, 574, 582, Bessel equation of order: 584, 616 k, 662 for Laplace’s equation, 605 nu, 147, 152, 238, 256, 259, nonhomogeneous, 582–584, 260, 280, 290, 627, 657 650 periodic, 638, 674 one, 272, 287–289, 290 separated, 630 one-half, 285–286, 289 time dependent, 650 zero, 272, 280–284, 290, 308, Boundary layer, 450 613, 658, 665 Boundary value problems: Bessel functions, 25 heat conduction equation, J0 (x), 272, 281, 289, 308, 309, 573–590, 614–617, 658, 660–661, 662, 665, 646–649 668 Autonomous, equation, 74 system, 471–472
737
738 homogeneous, 542–544, 629–641 Laplace’s equation, 604–613 nonhomogeneous, 542–543, 641–645 self-adjoint, 637–639, 660 singular, 656–663 Sturm-Liouville, 629–630 two-point, 541–547, 623 wave equation, 591–604, 617–619, 653, 664–666 see also Homogeneous boundary value problems; Nonhomogeneous boundary value problems Brachistochrone, 24, 63 Buckling of elastic column, 640–641
Complex exponentials, 153–155, 219 Compound interest, 51–54 Computer use in differential equations, 21 Conjugate matrix, 348 Continuous spectrum, 660 Convergence: of an improper integral, 294 of a numerical approximation, 424 of a power series, 232 Convergence in mean, 672 Converging solutions, 4, 12, 102 Convolution integral, 185, 330–337 Laplace transform of, 330–333 Cosine series, 566 Critical amplitude, 82 C Critical damping, 193 Capacitance, 195, 196 Critical point: Cardano, Girolamo, 216 approached by trajectory, 467 Cayley, Arthur, 348 center of linear system, 387, Center, 387, 467, 479, 490 467, 479, 490 Change of independent variable, definition of, 460, 472 159–160, 291 for first order equation, 77 for Euler equation, 160, 264, improper node, 404, 462–464 266 isolated, 481 Chaotic solution, of logistic node of linear system, 378, difference equation, 122, 390, 460–461 126 nonisolated, 470 of Lorenz equations, 536 proper node of linear system, Characteristic equation, 132, 214, 462 303 saddle point of linear system, complex roots, 153, 217 375, 389, 461–462 real and equal roots, 161, 218 spiral point of linear system, real and unequal roots, 132, 386, 390, 464–466 215 stability of, see Stability of Characteristic polynomial, 214, critical point 303 Cycloid, 64, 337 Chebyshev, Pafnuty L., 253, 511 Chebyshev equation, 253, 271, D 627, 663 D’Alembert, Jean, 161, 573, 591, Chebyshev polynomials, 253, 663 602 Chemical reactions, 89 Dal Ferro, Scipione, 216 Collocation, method of, 670 Damping force, 187–188, 473 Competing species, 491–503 Decay, radioactive, 16, 59 Complementary solution, 170 Degenerate node, see Improper Complete set of functions, 672 node
Index
Diagonalization, of matrices, 397–398 of homogeneous systems, 398–400 of nonhomogeneous systems, 411–413 Difference equation, 115–126 equilibrium solution of, 116 first order, 115–126 initial condition for, 116 iteration of, 116 linear, 115, 116–118 logistic, 118–126 chaotic solutions of, 122, 126 nonlinear, 115, 118–126 solution of, 115 Differential operator, 138, 630 Diffusion equation, see Heat conduction equation Dimensionless variables, 580, 601 Dirac, Paul A. M., 326 Dirac delta function, 326, 656 Laplace transform of, 326–327 Direction field, for first order equations, 3, 5 for systems, 373 Dirichlet, Peter Gustav Lejeune, 605 Dirichlet problem, 605 for circle, 609–611, 612 for rectangle, 606–608, 611–612 for sector, 612 for semicircle, 612 for semi-infinite strip, 612 Discontinuous forcing function, 74, 317–324 Diverging solutions, 6, 10, 102 Drag, 2, 8 Duffing equation, 478 E Eigenfunctions, 545, 623 normalized, 633 orthogonality of, 632, 660 series of, 635–636, 642, 660–661, 672
739
Index
Eigenvalues of linear homogeneous boundary value problems, 545, 623 of Sturm–Liouville problem, existence, 631 real, 547, 631 simple, 633 when positive, 640 Eigenvalues of matrix, 362–366, 401–402 multiplicity, 364 real, 365 simple, 364 Eigenvectors of matrix, 362–366, 401–402 generalized, 405, 409 linear independence of, 364, 365 normalized, 364 orthogonality of, 366 Elastic bar, vibrations of, 628–629 Elastic membrane, vibrations of, 604, 664–666 Elastic string: boundary value problems for, 591–604 derivation of wave equation, 617–619 free at one end, 600 general problem, 598–600 infinite length, 602–603 justification of solution, 596–598, 603–604 natural frequencies of, 594 natural modes of, 594 propagation of discontinuities in initial conditions, 598 wavelength of, 594 Electrical networks, 16, 195–196, 306–307, 340, 345–346 Elliptic integral, 491 Environmental carrying capacity, 78 Epidemics, 87–88 Equilibrium solution, 4, 6, 12, 76, 116, 460 see also Critical point
Error: for Adams–Bashforth formula, 440 for Adams–Moulton formula, 441 effect of step size, 426, 445–447 for Euler method, 425–427, 428 for Fourier series, 554–555, 561–562 global truncation, 424, 426, 445–447 for improved Euler method, 431, 434–435 local truncation, 424 mean square, 671 for modified Euler method, 435 round-off, 424, 429, 445–447 for Runge–Kutta method, 436 Escape velocity, 56–57 Euler, Leonhard, 24, 25, 97, 571, 573, 591, 604 Euler equation, 160, 169, 260–267, 382, 391, 408, 610 change of independent variable, 160, 264, 266 Euler formula for exp(it), 154 Euler–Fourier formulas, 550–551 Euler–Mascheroni constant, 283 Euler method, 96–105, 419–429, 455–457 convergence of, 104–105 global truncation error, 426 local truncation error, 425–427 Even functions, 564 Even periodic extension, 568 Exact equations, 89–93, 146 necessary and sufficient condition for existence of solution, 25, 91 for second order equations, 146 Exchange of stability, 120 Existence and uniqueness theorems, 20, 21 for first order equations, 66, 106
for first order linear equations, 65 for nth order linear equations, 210 proof of, for y = f (t, y), 106–113 for second order linear equations, 138 for series solution of second order linear equations, 250, 277–278 for systems of first order equations, 343 Exponential growth, 75 Exponential matrix, 396–397, 400 Exponential order, functions of, 296 Exponents at the singularity, 269, 274 F Falling object problem, 2, 3, 12–14 Feigenbaum number, 126 Ferrari, Ludovico, 216 First order ordinary differential equations: applications of, 47–64, 74–89 Bernoulli, 73 direction field, 3, 5 exact, 89–93 existence and uniqueness theorems, 65, 66, 106 proof of, 106–113 general solution of, 11, 30, 36, 70, 71 graphical construction of integral curves, 71 homogeneous, 24, 46–47 implicit solutions, 70–71 integrating factor for, 30–31, 35–36, 93–95, 96 interval of definition, 37, 43, 69–70 linear, 24, 29–39 nonlinear, 64–72 numerical solution of, see Numerical methods
740 separable, 40–46 series solution of, 254 systems of, see Systems Fitzhugh–Nagumo equations, 531 Fourier, Joseph, 547, 573 Fourier coefficients, 671 Fourier series, 547–572 acceleration of convergence, 564 choice of series, 568–569 convergence of, 559, 564 convergence of partial sums, 554, 561 cosine series, 566, 635 error, 554–555, 561–562 Euler–Fourier formulas, 550–551 Gibbs phenomenon, 561, 567 integration of, 550 orthogonality of sines and cosines, 549–550 Parseval equation, 564, 571, 604, 676 periodicity of sines and cosines, 548–549 for sawtooth wave, 567–568, 571 sine series, 566-567, 635 specialized kinds, 571–572 for square wave, 560–562, 571 for triangular wave, 551–552, 553–555, 571 Fredholm, Erik Ivar, 644 Fredholm alternative theorem, 644 Frequency, natural, 190 of simple harmonic motion, 190 of vibrating string, 594 Frobenius, Ferdinand Georg, 268, 348, 459 Frobenius, method of, 268 Fuchs, Immanuel Lazarus, 251, 459 Fundamental matrix, 393–401, 405–406 Fundamental set of solutions, 142, 211, 370
Index
Fundamental theorem of algebra, 215
steady state solution, 582 transient solution, 583 Heaviside, Oliver, 294 G Heaviside function, 310 Galois, Evariste, 216 Helmholtz equation, 668 Gamma function, 298–299 Hereditary systems, 331 Gauss, Carl Friedrich, 215 Hermite, Charles, 248, 348 Gaussian elimination, 352 Hermite equation, 248, 260, 627 Generalized function, 326 Hermite polynomials, 248 General solution of linear Hermitian matrix, 248, 365–366, equations: 379, 397, 398, 402, 637, first order, 11, 30, 36, 70, 71 653 nth order, 211 Heun formula, 431 second order, 133, 142, 143, History of differential equations, 155, 163, 170 23–26 systems of first order Hodgkin, Alan L., 503 equations, 370 Hodgkin–Huxley equations, 503 Gibbs, Josiah Willard, 561 Homogeneous algebraic Gibbs phenomenon, 561, 567 equations, 357 Global asymptotic stability, 487 Homogeneous boundary value Gompertz equation, 85 problems, 542–544, Graphical construction of integral 623–626 curves, 71 eigenfunctions, 545, 623 Gravity, 2, 56 eigenvalues, 545, 623 Green, George, 653 singular Sturm–Liouville, Green’s function, 653–656 656–663 Sturm–Liouville, 629–641 H Homogeneous differential Half-life, 16, 59 equations, with constant Harvesting a renewable resource, coefficients, 25, 129–137, 86–87 153–159, 160–169, Heat conduction equation, 17, 214–219 574, 615 definition of, 130, 343 bar with insulated ends, general theory of, 137–153, 584–587 210–211, 368–372 boundary conditions, 574, 582, systems, 373–410 584, 616 Homogeneous first order derivation of, 613–617 differential equations, 24, fundamental solutions of, 576, 46–47 586 Hooke, Robert, 187 nonhomogeneous boundary Hooke’s law, 187 conditions, 582–584 Huxley, Andrew F., 503 nonhomogeneous source term, Huygens, Christian, 336 617, 646–649 Hypergeometric equation, 279 in polar coordinates, 581 smoothing of discontinuities in I initial conditions, 582 Identity matrix, 351 solution of fundamental Implicit numerical method, 423, problem, 575–577 441, 453
741
Index
Implicit solution, 70–71 Improper integral, 294 comparison theorem for, 296 Improper node, 404, 462–464 Improved Euler method, 430–435 Impulse functions, 324–330 Impulse response, 335 Indicial equation, 269, 273, 274, 278 Inductance, 195, 196 Initial conditions, 11, 72, 116, 130, 210, 342 propagation of discontinuities for wave equation, 598 smoothing of discontinuities for heat equation, 582 Initial value problem, 11, 65, 66, 105, 130, 210, 342 Inner product: for functions, 549, 631 for vectors, 351 Instability: of critical point, 79, 117, 119, 468, 471, 472, 475, 514 of numerical method, 448–453 of periodic orbit, 524 see also Diverging solutions Integral curves, 11, 71 Integral equation, 106 Volterra, 336 Integral transform, 293 Integrating factor, 25, 30–31, 35–36, 93–95, 96, 146 Interval of convergence, 233 Inverse Laplace transform, 303 Inverse matrix, 352–354 Invertible matrix, 352 Irregular singular point, 258, 279–280 Iteration, method of, 106 see also Successive approximations of difference equation, 116 J Jordan, Camille, 348, 406 Jordan form of matrix, 406–407, 409, 410
Jump discontinuity, 295, 559, 598
of sawtooth wave, 316 of square wave, 315, 316 K of step function, 311 Kernel, of convolution, 185 table of, 304 of integral transform, 293 translation formula, 311, 313 Kirchhoff, Gustav R., 196 Legendre, Adrien Marie, 149, Kirchhoff’s laws, 196, 345 254 Kutta, M. Wilhelm, 436 Legendre equation of order alpha, 147, 152, 238, 252, L 254–255, 256, 258, 271, Lagrange, Joseph-Louis, 25, 180, 309, 657, 662, 669 547, 573, 591 Legendre polynomials, 254–255, Lagrange’s identity, 630, 662, 676 659–660 Leibniz, Gottfried Wilhelm, 24, Laguerre, Edmond Nicolas, 272 63, 73, 336, 571 Laguerre equation, 272, 627 Length, of a vector, 351 Landau, Lev D., 89 L’Hospital, Marquis de, 63 Landau equation, 89 Liapunov, Aleksandr M., 511 Laplace, Pierre Simon de, 25, Liapunov function, 514 294, 604 Liapunov’s second method, Laplace’s equation, 25, 604–613, 511–521 666 Libby, Willard F., 59 boundary conditions, 605 Li´enard equation, 491, 520 in cylindrical coordinates, 613, Limit cycle, 524 667 Linear dependence and Dirichlet problem, 605 independence, of for circle, 609–611, 612 functions, 147–153, 211 for rectangle, 606–608, of vector functions, 362 611–612 of vectors, 360 for sector, 612 Linear operator, 138, 226, 298, for semicircle, 612 303 for semi-infinite strip, 612 Linear ordinary differential mixed problem, 613 equations: Neumann problem, 605 adjoint equation, 146 for circle, 613 change of independent for rectangle, 612 variable, 159–160, 264, in polar coordinates, 609 266, 291 in spherical coordinates, 668 characteristic equation, 132, Laplace transform, 293–338 214, 303 of convolution, 330-333 complex roots, 153, 217 definition of, 294 real and equal roots, 161, of derivatives, 300–301 218 of Dirac delta function, real and unequal roots, 132, 326–327 215 existence of, 296 complementary solution, 170 of integral equations, 336 definition of, 19 inverse of, 303 Euler equation, 160, 169, of periodic functions, 315 260–267 of rectified sine wave, 316 exact, 146
742 existence and uniqueness theorems, 65, 138, 210, 250, 277–278, 343 first order, 24, 29–39 fundamental set of solutions, 142, 211, 370 general solution of, 11, 25, 30, 36, 70, 71, 133, 142, 143, 155, 163, 170, 211, 370 homogeneous equation with constant coefficients, 25, 129–137, 153–159, 160–169, 214–219 integrating factor, 25, 30–31, 35–36, 146 nonhomogeneous equation, 130, 169–185, 211–212, 222–230, 411–418 ordinary point, 238, 250, 254, 260 particular solution, 170, 212 reduction of order, 165–166, 212 self-adjoint, 147 series solution of, see Series solution singular point, 238, 250, 255–260 systems of, see Systems undetermined coefficients, 171–179, 222–226 variation of parameters, 25, 39, 179–185, 226–230 Liouville, Joseph, 106, 629 Logarithmic decrement, 198 Logistic equation, 76, 118, 511 Logistic growth, 75–81, 83–84 Lorenz, Edward N., 532 Lorenz equations, 532–539 Lotka, Alfred James, 504 Lotka–Volterra equations, 18, 340–341, 503–511
M Magnitude, of a vector, 351 Malthus, Thomas, 75 Mathematical model, 2, 47–49 analysis of, 48–49
Index
comparison with experiment, 49 construction of, 7, 14, 48 Matrices, 348–367 addition of, 349 adjoint, 348 augmented, 358 conjugate, 348 diagonalizable, 397–398 eigenvalues of, 362–366, 544 eigenvectors of, 362–366, 544 equality of, 349 exponential, 396–397, 400 fundamental, 393–401, 405–406 Gaussian elimination, 352 Hermitian, 248, 365–366, 379, 397, 402, 637, 653 identity, 351 inverse, 352–354 invertible, 352 Jordan form of, 406–407, 409, 410 multiplication of, 349–350 multiplication by numbers, 349 noninvertible, 352 nonsingular, 352 row reduction of, 352 self-adjoint, 365 similar, 398 singular, 352 subtraction of, 349 transpose, 348 zero, 349 Matrix functions, 354–355 Mean convergence, 672 Mean square error, 671 Millikan, Robert A., 62 Mixing problems, 49–51, 54–55 Mode, natural (of vibrating string), 594 Modified Euler formula, 435 Moulton, Forest Ray, 440 Multiplicity of eigenvalue, 364 Multistep method, 439–445
N Negative definite function, 513
Negative semidefinite function, 513 Neumann, Karl Gottfried, 605 Neumann problem, 605 for circle, 613 for rectangle, 612 Newton, Isaac, 24, 63 Newton’s law: of cooling, 60 of motion, 2, 187, 345, 618 Node, 378, 390, 461 See also Improper node; Proper node Nonhomogeneous algebraic equations, 358 Nonhomogeneous boundary value problems, 542–543, 641–656 Fredholm alternative, 644 solution, by eigenfunction expansion, 641–653 by Green’s function, 653–656 Nonhomogeneous linear differential equations, 130, 169–185, 211–212, 222–230, 334–335, 343, 411–418 Noninvertible matrix, 352 Nonlinear ordinary differential equations: autonomous systems, 471–539 definition of, 19, 130 existence and uniqueness theorems, 66, 106, 343 first order, 64–72 methods of solving, 40–47, 89–96, 137 periodic solutions of, 503–511, 521–531 y = f (t, y ), 137 y = f (y, y ), 137 Nonsingular matrix, 352 Normalization condition, 633 Nullcline, 499 Numerical dependence, 452 Numerical methods, 419–458 Adams–Bashforth formula, 440
743
Index
Adams–Moulton formula, 441 adaptive, 427, 433 backward differentiation formulas, 443–444 backward Euler formula, 422–424 comparison of, 444 convergence of, 424 effect of step size, 426, 445–447 error see Error Euler, 96–105, 419–429, 455–457 Heun, 431 improved Euler, 430–435 modified Euler, 435 multistep, 439–445 one-step, 439 predictor–corrector, 441, 458 Runge–Kutta, 435–439, 456 stability of, 448–453 for stiff equations, 450–451 for systems of first order equations, 455–458 vertical asymptotes, 447–448 Numerical stability, 448–453 O Odd function, 565 Odd periodic extension, 568 One-step method, 439 Orbital stability, 524 Order of differential equation, 18 Ordinary differential equation, definition of, 17 Ordinary point, 238, 250, 254 at infinity, 260 Orthogonality, of Bessel functions, 291, 661, 662 of Chebyshev polynomials, 663 of eigenfunctions of Sturm–Liouville problems, 632, 660 of functions, 549 of Legendre polynomials, 255, 662, 676 of sine and cosine functions, 549–550
of vectors, 351 Orthonormal set, 633, 669 Overdamped motion, 193 P Parseval equation, 564, 571, 604, 676 Partial differential equation, definition of, 17 See also Heat conduction equation, Laplace’s equation, Wave equation Partial fraction expansion, 302, 305, 306, 309 Particular solution, 170, 212 Pendulum equation: generalized nonlinear undamped, 519 linear undamped, 19 nonlinear damped, 473–475, 481–482, 483, 484–487, 489, 519–520 nonlinear undamped, 19, 478, 488–489, 490–491, 511–513, 516 period, 490–491 Period, of nonlinear undamped pendulum, 490–491 of simple harmonic motion, 190 Periodic boundary conditions, 638, 674 Periodic forcing terms, 563 Periodic functions, 548 cosine and sine, 548–549 derivative of, 557 fundamental period, 548 integral of, 556–557 Laplace transform of, 315 linear combination of, 549 product of, 549 Periodic solutions of autonomous systems, 503–511, 521–531 Phase, of simple harmonic motion, 190 Phase plane, 373, 460 Phase plot, 207 Phase portrait, 373, 460
´ Picard, Charles Emile, 106 Picard, method of, 106 Piecewise continuous functions, 295, 558 Poincar´e, Henri, 459 Poincar´e-Bendixson theorem, 525 Population, growth of, 74–84 Positive definite function, 513 Positive semidefinite function, 513 Potential equation, 604–613 See also Laplace’s equation Power series, properties of, 232–235 Predator–prey equations, 18, 340–341, 503–511 Predictor–corrector method, 441, 458 Proper node, 462 Q Quasi frequency, 192 Quasi period, 193 R Radioactive decay, 16, 59 Radiocarbon dating, 59 Radius of convergence, 232, 251 Ramp loading, 320 Rate function, 5 Rate of growth (decline), 5, 75 intrinsic, 76 Rayleigh equation, 531 Rectified sine wave, 316 Recurrence relation, 240, 268, 269, 274 Reduction of order, 165–166, 212 Reduction to systems of equations, 341–342 Region of asymptotic stability, 487, 498, 516–519 Regular singular point, 255–260 at infinity, 260 Resistance, electric, 195, 196 see also Damping force Resonance, 202–203, 323–324 Rodrigues’ formula, 255
744 Round-off error, 424, 429, 445–447 Row reduction, 352 Runge, Carl D., 436 Runge–Kutta method, 436–439, 456
S Saddle point, 375, 389, 461–462 Saturation level, 78 Sawtooth wave, 316, 567–568, 571 Scalar product, see Inner product Schaefer model for fish population, 86 Schr¨odinger, Erwin, 326 Self-adjoint: boundary value problem, 637–639, 660 equation, 147 matrix, 365 Separable equations, 24, 40–46 Separated boundary conditions, 630 Separation constant, 575, 585, 593, 606, 623, 665 Separation of variables, 573 further remarks, 664–669 for heat conduction equation, 575, 585 for Laplace’s equation, 606 in polar coordinates, 609 for wave equation, 593 in polar coordinates, 667 Separatrix, 487, 498 Series of eigenfunctions, 635–636, 642, 660–661, 672 Series solution: existence theorem for, 250, 277–278 first order equations, 254 indicial equation, 269, 273, 274, 278 near an ordinary point, 238–255 near a regular singular point, 267–280
Index
recurrence relation, 240, 268, 269, 274 when roots of indicial equation: are equal, 270, 276–277, 278, 280–284 differ by integer, 270, 277, 278, 285–289 Shift of index of summation, 235–236 Similarity transformation, 397–398 Similar matrices, 398 Simple eigenvalues, 364 Simple harmonic motion, 190 Simply connected region, 91 Simpson’s rule, 437 Sine series, 567 Singular matrix, 352 Singular point, 238, 250, 255–260 irregular, 258, 279–280 regular, 255–260 at infinity, 260 Sink, nodal, 461 spiral, 465 Slope field, see Direction field Solution of ordinary differential equation, 20 general solution of linear equations, 11, 30, 36, 70, 71, 133, 142, 143, 155, 163, 170, 211 systems, 370 implicit, 70–71 of systems of equations, 342 Source, nodal, 461 spiral, 465 Spiral point, 386, 390, 464–466, 479–480 Spring–mass system, 186–195, 200–207, 306, 392–393 two degrees of freedom, 220, 345, 393 Square integrable function, 672 Square wave, 315, 316, 560–562, 571 Stability:
for almost linear systems, 483–484 asymptotic, 79, 117, 119, 468, 471, 473, 475, 514–515, 524 see also Converging solutions basin of attraction, 487, 498, 516–519 of critical point, 468, 471, 472–473, 475, 479, 514 definition of, 472 exchange of, 120 globally asymptotically stable, 487 Liapunov theorems, 514 for linear systems, 468, 479–480 of numerical method, 448–453 orbital, 524 region of asymptotic stability, 487, 498, 516–519 semistable, 84, 524 stable, 468, 471, 472, 475, 514, 524 unstable, 79, 117, 119, 468, 471, 472, 475, 514, 524 see also Diverging solutions Stairstep diagram, 120 Star point, 462 Steady state solution, 203, 582 Step functions, 310 Stiff equations, 450–451 Stokes, George Gabriel, 62 Stokes’ law, 62 Strange attractor, 536 Sturm, Charles, 629 Sturm–Liouville boundary value problems, 629–641 eigenfunctions orthogonal, 632 eigenvalues, real, 631 simple, 633 nonhomogeneous, 641–645 self-adjointness of, 637–639, 660 singular, 656–663 continuous spectrum, 660 Successive approximations, method of, 106, 401
745
Index
Superposition principle, 140, 344, 368, 600, 663 Sylvester, James, 348 Systems: of algebraic equations, 357–360, 542–543 of differential equations, 18 autonomous, 471–472 existence and uniqueness theorem, 343 initial conditions, 342 linear, 343 nonlinear, 343 numerical solution of, 455–458 reduction to, 341–342 solution of, 342 of linear first order equations, 368–418 definition of, 343 diagonalization, 398–400, 411–413 Euler, 382, 391, 408 existence and uniqueness theorem, 343 fundamental matrix, 393–401, 405–406 fundamental set of solutions, 370 general solution of, 370 homogeneous, 343, 368–372 homogeneous with constant coefficients, 373–410 complex eigenvalues, 384–393, 464–467 real and unequal eigenvalues, 373–383, 460–462 repeated eigenvalues, 401–410, 462–464 nonhomogeneous, 343, 411–418 superposition of solutions, 368
undetermined coefficients, 413–414 variation of parameters, 414–416
for systems of equations, 414–416 Vector space, 151 Vectors, 151, 349 T inner product, 351 Tangent line method, see Euler length, 351 method linear dependence and Tautochrone, 336–337 independence of, Taylor, Brook, 234 360–362 Taylor series, 154, 234 magnitude, 351 for functions of two variables, multiplication of, 351 434 orthogonality, 351 Telegraph equation, 619, 627, 653 Verhulst, Pierre F., 76 Thermal diffusivity, 574, 616 Verhulst equation, 76 Threshold models, 81–84 Vibrations: Trajectories, 342, 373, 460, of elastic bar, 628–629 467–468, 475–477 of elastic membrane, 604, almost linear systems, 664–666 483–484 of elastic string, 591–604, linear systems, 460–467 617–619 Transfer function, 335 of spring–mass system, Transient solution, 203, 583 186–195, 200–207, 306, Translation of function, 311 392 Transpose of matrix, 348 two degrees of freedom, 220, Triangular wave, 551–552, 345, 393 553–555, 571 Volterra, Vito, 504 Truncation error, global, 424, Volterra integral equation, 336 426, 445–447 local, 424 W Wave equation, 17, 591, 617–619 U in polar coordinates, 664, 667 Undetermined coefficients, solution of, 602 171–178, 222–226 see also Elastic string, for systems of equations, derivation of wave 413–414 equation Uniqueness theorems, see Wavelength, of vibrating string, Existence and uniqueness 594 theorems Wave velocity, 591, 601, 619 Unit step function, 310 Wronski, J´ozef, 141 Laplace transform of, 311 Wronskian, 141, 211 Abel’s identity for, 149, 213 V for systems of equations, 369 Van der Pol equation, 478, Abel’s identity, 370 526–530 Variation of parameters, 25, 39, Y 179–185, 226–230 Yield, maximum sustainable, 87
